Drag all the stuff you do not use all the time off the dock. For me, that leaves only the Finder, Safari and Mail. Now drag your Applications folder and your Documents folder to the Dock. Clicking on either will open the folder. Clicking and holding the mouse on a folder will give you a list of what is in the folder (just like the Start Menu under Windows).
You can add anything to the Dock by dragging the original to the Dock and holding it there until the existing objects move to make room for the new object.
Personally, I position my Dock on the right side, turn Hiding off, and make the Dock size small. This gives me a quick way to see what's running and to switch between programs.
Best wishes