A watercraft propulsion system comprising: a bow thruster at a bow of a hull to generate a lateral propulsive force; a propulsion device on a stern of the hull and having a variable steering angle; and a controller configured or programmed to control the propulsive force of the bow thruster, and control the steering angle and a propulsive force of the propulsion device; characterized in that the controller is configured or programmed to control the propulsive force of the bow thruster, and control the steering angle and the propulsive force of the propulsion device in order to perform a fixed point holding control to maintain a position and an azimuth of the hull; the fixed point holding control includes a translation mode in which the hull position is maintained by controlling the propulsive force of the propulsion device with the steering angle of the propulsion device set to a translation mode steering angle to translate the hull and the hull azimuth is adjusted by controlling the propulsive force of the bow thruster, and a bow turning mode in which the hull azimuth is adjusted by controlling the propulsive forces of the bow thruster and the propulsion device with the steering angle of the propulsion device set to a bow turning mode steering angle to bow turn the hull; the controller is configured or programmed to switch between the translation mode and the bow turning mode based on a predetermined switching condition during the fixed point holding control; the switching condition includes a bow turning mode switching condition to switch from the translation mode to the bow turning mode; and the bow turning mode switching condition includes at least one selected from the group consisting of a first switching condition such that a positional offset of the hull from a target position is less than a first threshold, a second switching condition such that a propulsive force requirement value to translate the hull is less than a second threshold, or a third switching condition such that a bow turning requirement value for the bow turning of the hull or an azimuthal offset of the hull from a target azimuth is not less than a third threshold; and the switching condition includes a translation mode switching condition to switch from the bow turning mode to the translation mode; and the translation mode switching condition includes at least one of a fourth switching condition such that a bow turning requirement value to turn the bow of the hull or an azimuthal offset of the hull from a target azimuth is not greater than a fourth threshold, and a fifth switching condition such that a propulsive force requirement value to translate the hull is not less than a fifth threshold. a bow thruster at a bow of a hull to generate a lateral propulsive force; a propulsion device on a stern of the hull and having a variable steering angle; and a controller configured or programmed to control the propulsive force of the bow thruster, and control the steering angle and a propulsive force of the propulsion device; characterized in that the controller is configured or programmed to control the propulsive force of the bow thruster, and control the steering angle and the propulsive force of the propulsion device in order to perform a fixed point holding control to maintain a position and an azimuth of the hull; the fixed point holding control includes a translation mode in which the hull position is maintained by controlling the propulsive force of the propulsion device with the steering angle of the propulsion device set to a translation mode steering angle to translate the hull and the hull azimuth is adjusted by controlling the propulsive force of the bow thruster, and a bow turning mode in which the hull azimuth is adjusted by controlling the propulsive forces of the bow thruster and the propulsion device with the steering angle of the propulsion device set to a bow turning mode steering angle to bow turn the hull; the controller is configured or programmed to switch between the translation mode and the bow turning mode based on a predetermined switching condition during the fixed point holding control; the switching condition includes a bow turning mode switching condition to switch from the translation mode to the bow turning mode; and the bow turning mode switching condition includes at least one selected from the group consisting of a first switching condition such that a positional offset of the hull from a target position is less than a first threshold, a second switching condition such that a propulsive force requirement value to translate the hull is less than a second threshold, or a third switching condition such that a bow turning requirement value for the bow turning of the hull or an azimuthal offset of the hull from a target azimuth is not less than a third threshold; and the switching condition includes a translation mode switching condition to switch from the bow turning mode to the translation mode; and the translation mode switching condition includes at least one of a fourth switching condition such that a bow turning requirement value to turn the bow of the hull or an azimuthal offset of the hull from a target azimuth is not greater than a fourth threshold, and a fifth switching condition such that a propulsive force requirement value to translate the hull is not less than a fifth threshold.