How can a ship dock in space?

Docking would be done by large spires with adjoining rings where once the ships initially dock they are brought into some form of lot (this part is done by moving platforms and the ship lots being built into interchangeable grids with grids for each of the average ship sizes and some wiggle room)

My question is the docking itself. Is there anyway to dock a ship safely and with minimal jolting and then be able to drag said shop into a station preferably using that same system?

Notes: Hegemony engineers want a system that is able to accommodate virtually any ship via interchangeable parts.

Also Ceres does spin slowly to simulate gravity. How fast "slowly" is I have no idea.

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How can a ship dock in space?

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