A general rule of thumb for me is to match orbit, set up a rendevouz with desired ship/station, wait until within 10 seconds or so of minimal distance, kill velocity, and point toward the ship/station and fire engines. I then repeat until the thing is within 25 meters, and switch to RCS only. I use the H,N,I,J,K,L keys to translate on axes and Q,E,W,A,S,D to rotate. I also play bare-bones stock.