A method for pulling an autonomous submersible vehicle into a mother ship. The method includes the steps of letting out a floating line from the mother ship, allowing at least part of a capturing line to rise from the submersible vehicle using a capturing buoy, to cause the submersible vehicle to cross under the floating line in such a way that the capturing line with the capturing buoy becomes caught on the floating line, and to draw the submersible vehicle to the mother ship by pulling in the floating line.