Hi...
I would need more information regarding how big your vessel is (will you need a pilot?), whether the port is domestic or foreign (customs?), whether you are carrying cargo or not, how deep your draft is, etc.
A large commercial vessel should have the details handled by the shipping company's representative.
A small, private vessel will start by raising the harbormaster of the port or marina on the radio, identifying yourself & inquiring about berth availability. It can be an informal process, and the harbormaster can give you additional information about tides, currents, shoals, and other things not indicated on your chart. If the conditions are difficult (chop, wind, visibility), the harbormaster may help with providing hands to take your ropes when you dock.
If you can time your arrival for high slack water, you should. There may be snags, shifting shoals, or a recent sinking that doesn't show up on your chart. Additionally, you're better off crossing a bar when it's at its calmest... especially if water or weather conditions are tricky.
If you're planning on docking in a large metropolitan area with a lot of ship traffic, you may need to coordinate with the local marine traffic service.
Your best friends are a set of current charts, a current copy of the Coast Pilot, good up-to-the-minute weather info, and the Coast Guard (don't waste their time, but don't be afraid to use them! They're there to help!).
I hope this helps...
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