A coupling device for connecting a first coupling head and a second coupling head for transfer of fluids between vessels, wherein the coupling device comprises the first coupling head comprising - a first flange, - a ball valve, - swivel joint and the second coupling head comprising - a second flange, - a connector and - a ball valve, which upon connection of the first and second coupling heads and by operation of a valve actuator, ball valves within coupling head and coupling head are opened and fluids may flow there through, wherein - the first coupling head further comprising a non-fluid communicating guiding element (101; 201; 301a-e; 401b,c; 501b-d) extending from the first coupling head and having a free end (102; 202; P) at a distance (h) from the first coupling head central axis ( a-a), at least a portion of the guiding element having a non-circular cross-section; and - the second coupling head further comprising a non-fluid communicating receptacle (123; 223; 323; 423; 523) comprising a hawse hole equipped with a pair of rollers into which the guiding element (101; 201; 301a-e; 401b,c; 501b-d) is pulled during use, and wherein the second coupling head further comprises pull-in means for pulling the guiding element (101; 201; 301a-e; 401b,c; 501b-d) into the receptacle (123; 223; 323; 423; 523), said pull-in means being connected to the guiding element free end (102; 202; P), at least a portion of the receptacle (123; 223; 323; 423; 523) having a non-circular cross-section of a shape which is complementary with the non-circular portion of the guiding element (101; 201; 301a-e; 401b,c; 501b-d) providing sideways, longitudinal and rotational righting moments for the first coupling head, such that the movement of the first coupling head towards the receptacle (123; 223; 323; 423; 523) is at an angle which is not coincident with the central axis ( a-a), and - when the guiding element (101; 201; 301a-e; 401b,c; 501b-d) is being placed inside the receptacle (123; 223; 323; 423; 523) in its final phase -, the first coupling head central axis ( a-a) and the central axis ( b-b) of the second coupling head are aligned and coincident, and the two heads (16,20) are rotationally aligned. - a first flange, - a ball valve, - swivel joint and - a second flange, - a connector and - a ball valve, - the first coupling head further comprising a non-fluid communicating guiding element (101; 201; 301a-e; 401b,c; 501b-d) extending from the first coupling head and having a free end (102; 202; P) at a distance (h) from the first coupling head central axis ( a-a), at least a portion of the guiding element having a non-circular cross-section; and - the second coupling head further comprising a non-fluid communicating receptacle (123; 223; 323; 423; 523) comprising a hawse hole equipped with a pair of rollers into which the guiding element (101; 201; 301a-e; 401b,c; 501b-d) is pulled during use, and wherein the second coupling head further comprises pull-in means for pulling the guiding element (101; 201; 301a-e; 401b,c; 501b-d) into the receptacle (123; 223; 323; 423; 523), said pull-in means being connected to the guiding element free end (102; 202; P), at least a portion of the receptacle (123; 223; 323; 423; 523) having a non-circular cross-section of a shape which is complementary with the non-circular portion of the guiding element (101; 201; 301a-e; 401b,c; 501b-d) providing sideways, longitudinal and rotational righting moments for the first coupling head, such that the movement of the first coupling head towards the receptacle (123; 223; 323; 423; 523) is at an angle which is not coincident with the central axis ( a-a), and - when the guiding element (101; 201; 301a-e; 401b,c; 501b-d) is being placed inside the receptacle (123; 223; 323; 423; 523) in its final phase -, the first coupling head central axis ( a-a) and the central axis ( b-b) of the second coupling head are aligned and coincident, and the two heads (16,20) are rotationally aligned.