Gemini-Agena Target Vehicle
The Agena's engine fires on the Gemini 10 mission (NASA)
The Agena's engine firing on the Gemini X mission. (NASA)

    Project Gemini needed an adequate vehicle for the later missions to use as a target for rendezvous and docking. Responding to this need, McDonnell Douglas modified its pre-existing Agena upper rocket stage to become the Gemini-Agena Target Vehicle. This modified spacecraft now had a docking collar, a radar beacon, and a restartable rocket engine.
    The Agena was launched on an Atlas rocket. Of six launches, two were destroyed before they reached orbit. The first successful docking with an Agena came on the Gemini VIII mission, with other dockings occuring on the Gemini X, XI, and XII missions. The experienced gained from using the Agena Target Vehicle in practicing docking with the Gemini spacecraft was indispensable in sending men to the moon.