It is all in Newton's third law: as your legs propel your body towards the dock, they also apply to the boat an equal force in the opposite direction, which pushes it away from the dock. Otherwise, even as you jump, the boat "magically" moves away from the dock, possibly making you miss your leap or pushing the boat out of reach. Those familiar with small boats know that before jumping from a boat to the dock, it is wise to tie the boat to the dock first, and to grab a handhold on the dock before jumping. In a similar way, the forward motion of a rocket comes from the reaction of the fast jet of hot gas shooting out from its rear.
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