There's a place where I paddle sometimes where the dock sits about level with the deck of the boat. I lay the top part of my body on the dock such that I can stick my legs in the boat. This casues the boat to come on edge and move slightly away from the dock, but my legs are in the cockpit and my arms are on the dock, I slide in and and I hip flick up. It feels a little like doing hip flicks on the side of a pool. I like the feel of that control I have. You can kind of do the same thing getting out, but it's not quite as elegant. I learned this when I launched off the back of my sister's powerboat once which has one of those ski platforms in the back. Probably not for everyone, but I like it for a low dock situation.
Classic Freestanding Rack
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