This is how an SBM mooring is done.

This is a very simple maneuver, which is basically just approaching a a Buoy at a low speed, close enough to pick up a messenger line for the Hawser (the main line/chain of the buoy). We use a tugboat, fast on the starboard bow to assist during approach. Once secured to the buoy, the tug moves to the stern and takes a ship´s line and then keeps a very light tension during the entire discharge operation.