A system for connecting an auxiliary craft and a mother ship includes a cable suspended from the mother ship, a cable tensioner, a mother-ship coupler that is slideably engaged to the cable, a fixture that depends from the auxiliary craft, and an auxiliary-craft coupler. The auxiliary craft is maneuvered to engage the cable. Once engaged, the cable tensioner tensions the cable, thereby maintaining the auxiliary craft in position next to the mother ship. As the cable is tensioned, the auxiliary-craft coupler axially aligns to the mother-ship coupler. After axial alignment, the mother-ship coupler is released to slide into mating engagement with the auxiliary-craft coupler. Mated couplers enable bi-directional electrical or optical communications as well as the transfer of power, fuel or other fluids from the mother ship to the auxiliary craft.