axes

Hi guys, So, I got my Kerbals to Duna, landed on it but since I'm not a huge pro, I used up all my fuel getting there, and now I have no chance of getting back up into orbit around Duna. I am entertaining the idea of not giving up on them, and since their lander has a docking port on the top, I was entertaining the idea of picking the craft up with another craft (docking essentially) and pulling them out into orbit. Would this be realistic and doable? Cheers