Install Docker for ARM using the install script:
curl -sSL https://get.docker.com | sh
Set to startup as a service:
sudo systemctl enable docker
Start the service manually now (or reboot to start automatically):
sudo systemctl start docker
Add user to docker group (to run docker cli without sudo):
sudo usermod -aG docker pi
To create a new image from a Raspbian base for ARM, use the Raspbian images from resin (in your Dockerfile):
Edit your Dockerfile to include and configure whatever you need, and build an image as normal on the Pi using:
docker build -t tagname .
… and off you go.