A docking apparatus (20) for coupling two spacecraft comprises a rigid pressure vessel (22) having an internal passage, and first and second ports (24,28) connecting with the interior. The planes of the docking ports form an oblique angle with one another, causing the docked spacecraft to assume a canted or inclined position relative to other. The cant angle eliminates mechanical interference between the adjoining structures of the docked spacecraft. Methods for carrying out docking are also disclosed.