ESA has released a highlights reel of the docking sequence. It’s neat to see the thruster firings as the computer brings the spacecraft in.
This is ESA’s final ATV, their cargo vehicle to the ISS and one of only two spacecraft types capable of delivering propellant for Zvezda’s main engines. (The other, of course, is the Russian Progress.) As ATV is designed to duplicate this function, it also docks the same way Progress does — it docks to the aft port of Zvezda, with a Soyuz-style cone-and-drogue docking system, using the Kurs rendezvous system.