It’s usually a good sail up to Nafplion with the wind funnelling up the Argolic Gulf, though as the seaway narrows there can be a bit of a chop. Nafplion itself is hard to miss. Head in to the bay observing the port mark and keeping south of Bourtzi Fortress.
Generally yachts moor stern to on the main (south) quay in front of the town, though at quieter times, yachts may lie alongside. You can also go alongside the first part of the commercial (east) quay, at the end nearest the south quay.
Occasionally, large cruise ships visit and you may be directed by the port authorities to go alongside the stubby ferry jetty. There are large rubber protectors on the side of the quay so make sure you are well fendered to avoid black marks down your hull.
For those who prefer to anchor, or when the slop in the bay makes staying on the quay too uncomfortable, there is plenty of room to swing on the hook in the bay.