Try to make an 2 encounters before reaching the first encounter.
It's possible, but difficult.
The trick is that after the first encounter, there is another set of close encounters (Those gray/white arrows that show the distance from you to the target aka a planet and/or moon)
If you don't see anything or don't know what I am talking about, go to your settings and set your Conic Patch Limit to max (6) and Conic Patch Draw Mode to Dynamic.
For more of a challenge you can do 1 or more of these ideas:
Escape with the same or different planet/moon.
Orbital break (get into orbit from an escape trajectory)
Pick up
Drop down
The trick to do the first 2 is to focus on the planet/moon, if the orbital path is behind the planet/moon's direction of orbit then you'll speed up and the same thing doing the opposite.
Please reply if you are having problems or have other ideas.