I try to insure that I have a docking port on all vessels, this allows the rescue vessel to be effectively tied down as to avoid it drifting away. You can in theory have multiple docking ports (allowing a backup vessel to move a stranded one) but bare in mind docking ports are not all that strong and you will have to be gentle to it when maneuvering... Otherwise you'll end up sending the lads in their parade uniform to the next of kin of the poor kerbals who got turned into pink mist. Additionally to make my space program safer I put remote guidance units on all of my ships and test them thoroughly (I use MechJeb for consistency sake) before authorising a manned flight as to avoid accidents. Remember prevention is the best cure Today I had just successfully made my first Mun landing WITHOUT getting Kerbals stranded I had to have a refueling vessel sitting in orbit on Mun at 200kms to refuel the lander so they could get back home. iirc the KAS (Kerbal Attachment System) is operational in KSP 0.21.x so you could use that with the blimp addon for recovery of command pods from the ocean (winch them up). But yeah if you wanna stay stock add docking ports and make sure your ditch and burn craft can dock with them (ditch and burn craft = cheap, simple, mechjeb driven throw away ships with too much fuel and remote guidance modules (you don't want to increase the number of stops the lads have to make, should manure hit the fan, do you?). You fly it to your stricken vessel (hence why mechjeb, after 5 trips it gets old REAL QUICK), dock, refuel, then undock and deorbit (leave enough fuel in it for like 150m/s delta V to enable you to de-orbit, otherwise if you leave it up there its another thing that can go wrong) Pardon my grammar and slang and scatter brain it's getting late and my brain has already gone to bed.