If you don't want to do the iterative over and over and over and over, may I suggest MechJeb 2.0 ... Make sure you put RCS units on your stuff WITH MONO Fuel tanks nearby. Use Ascent Guidance to get launch into the plane of the target or just Launch to Rendezvous. Then use the Docking Autopilot. At least this is the 'easier' way. I frankly can't do it any other way (I guess I suck)....