When I had my 34 Mainship I pulled a 25 Bayiner home to our marina when his one year old rebuild blew. I just hooked one 5/8 line to one stern cleat, thru the hawse and to his boat. When we got to the marina the dinghy patrol put him in his slip.
Then I towed another 34 Mainshipfrom Fisher's Island sound up the Pawcatuck River to his marina. Towed the same way. The fun part was going smack dab thru the center of a 15 foot sailboat race.

*I was the topic of conversation for a while I'm sure.
I was able to tow him close enough to a T dock and his marina buddies did the rest.