So why is it that it seems docking is an easy, everyday task for everyone except me? @_@
Well I have this standard procedure I follow. The first step is to hold the launch until the station is roughly 30º-45º ahead of me. After that, launch and get into orbit around 70-100 km. The less eccentric, the better. Set the target and adjust the inclination at the first ascending or descending node with maneuvering nodes to match the target. After that, set up a new maneuvering node and increase the prograde velocity until you have an intersection. Ideally, you want the two intersecting points as close to each other as possible. Then, move around the node until at least one of the points has a separation of at most 2 km.
After that, time your burn. You want to start your burn when the time to reach the node is the same as the burn time, although I typically burn one second earlier to account for the non-instantaneous jerk. Once you're close to the intersect point and the target's speed difference shows up, burn retrograde until the speed difference is 3 m/s or less. The closer the better as this is the orbital height you'll later be working on. Then quickly turn your craft to point to the target and burn until you reach a minimum separation distance at the upcoming intersection. Repeat this process until the separation is at most 0.2 km and the speed difference is less than 3 m/s (or less depending on your RCS configuration), after which you can use RCS to maneuver the craft into dock.
Prior to docking, though, I recommend having the targets docking port point normal or antinormal so its relative position isn't affected by rotation. At least for beginners, it certainly helps.
I tend to eyeball the docking procedure, by using the navball and the docking controls to get a good trajectory until I'm really close and then simply move it into position slowly. When approaching, I limit the speed difference to 0.5 m/s and 0.1-0.2 m/s when docking.
One thing that is important when designing the craft is the placement of RCS thrusters. Improperly placed thrusters will rotate your craft when using the docking controls and makes docking more difficult. Try to predict the mass distribution of the ship and place RCS thrusters where more thrust is needed to stabilize the net torque.