The trick on this is that the boat should come head to wind, ideally in irons at the mooring. As that happens you go forward with the lobsterman's gaff. You can snag the dinghy painter or the pickup mast. But...a current carrying you beyond the mooring or too much headway carries you beyond the mooring. So you have to try again.
The other method is a line from bow to stern with a carabiner that you can snap onto the painter. I used to do it that way. Maybe I should again.