Abstract: This paper develops a multi-stage path planning algorithm for auto docking operation of underactuated surface vehicle (USV). Docking operation is one of the most difficult tasks, which requires advanced maneuvering skills. Therefore, it is necessary to generate a smooth trajectory in the berthing environment, while maintaining the accuracy of control. Our approach introduces a hybrid A* search algorithm for pre-docking stage, where the well-known A* search algorithm is combined with kinematic state space of USV using the Reed-Shepp curves. It will produce the sub-optimal paths that guarantee the kinematic feasibility and low collision risk. For the docking stage, a cubic Bezier curve is introduced to represent the target path. The generated trajectories are tested in numerical simulations, where a mathematical model for a ship with two fixed propellers is established and verified. The results show that the performance of path planning and tracking is satisfactory.