A marine propulsion system comprising: at least two parallel propulsion devices , each being configured to rotate about a respective steering axis and each generating forward and reverse thrusts, wherein the parallel propulsion devices are maintained in parallel such that their thrusts are parallel to one another; a steering wheel configured to rotate the parallel propulsion devices to control the drive angle (θ); characterized in that the system further comprises at least one drive position sensor configured to sense a drive angle (θ) of at least one of the parallel propulsion devices ; a lateral thruster configured to generate starboard and port thrusts to propel the marine vessel ; a user input device operable by a user to provide at least one of a lateral thrust command to command lateral movement of the marine vessel and a rotational thrust command to command rotational movement of the marine vessel ; and a controller configured to control magnitude and a forward and/or reverse direction of thrust by the parallel propulsion devices and the lateral thruster based on the lateral thrust command and/or the rotational thrust command provided by the user input device and the drive angle (θ) controlled by an operator via the steering wheel so as to provide the lateral movement and/or the rotational movement commanded by the user without controlling the drive angle (θ). at least two parallel propulsion devices , each being configured to rotate about a respective steering axis and each generating forward and reverse thrusts, wherein the parallel propulsion devices are maintained in parallel such that their thrusts are parallel to one another; a steering wheel configured to rotate the parallel propulsion devices to control the drive angle (θ); characterized in that the system further comprises at least one drive position sensor configured to sense a drive angle (θ) of at least one of the parallel propulsion devices ; a lateral thruster configured to generate starboard and port thrusts to propel the marine vessel ; a user input device operable by a user to provide at least one of a lateral thrust command to command lateral movement of the marine vessel and a rotational thrust command to command rotational movement of the marine vessel ; and a controller configured to control magnitude and a forward and/or reverse direction of thrust by the parallel propulsion devices and the lateral thruster based on the lateral thrust command and/or the rotational thrust command provided by the user input device and the drive angle (θ) controlled by an operator via the steering wheel so as to provide the lateral movement and/or the rotational movement commanded by the user without controlling the drive angle (θ). at least one drive position sensor configured to sense a drive angle (θ) of at least one of the parallel propulsion devices ; a lateral thruster configured to generate starboard and port thrusts to propel the marine vessel ; a user input device operable by a user to provide at least one of a lateral thrust command to command lateral movement of the marine vessel and a rotational thrust command to command rotational movement of the marine vessel ; and a controller configured to control magnitude and a forward and/or reverse direction of thrust by the parallel propulsion devices and the lateral thruster based on the lateral thrust command and/or the rotational thrust command provided by the user input device and the drive angle (θ) controlled by an operator via the steering wheel so as to provide the lateral movement and/or the rotational movement commanded by the user without controlling the drive angle (θ). <EOS>