This is what I usually do: So you are in orbit, coplanar with the target's. When you achieve intersection (encounters closer than 1.5km or so), start killing your velocity relative to the target, and keep an eye in the map view. Do not let your periapsis get lower than 70km (atmosphere), because you will fall back to Kerbin. If you had a good intersection (<= 1.0km), deorbiting won't be a problem, and you will be stopped relative to your target. If you are quick and have a lot of fuel to spare, it is possible to deorbit and then reorbit with the target, and achieve the encounter, but it is not very efficient... If you got problems: When you periapsis is as low as you'll allow it, stop the burn and do one of two things: a) Burn towards the target, until you get another nice intersection on the map view; Wait confortably for the next intersection; Then, repeat the killing-velocity procedure again, until you see the beautiful "Target 0.0 m/s". From there, it is as simple as approaching the target with RCS (remember to break, and use time warp), and then you "just" dock with your target! To me, it is a matter of fiddling with my orbit and the intersections with the target, with small corrections, until I get the "perfect" intersection, then I just kill my velocity and dock. Well, hope I have helped, sorry if I said incorrect stuff, and good docking!