<p>Fuel-optimal orbit-attitude motion planning for spacecraft close-range rendezvous and synchronization requires solving a two-point boundary value problem with continuous input actuation. This paper presents a geometric approach to the problem, which not only encompasses both translational and rotational dynamics, but also incorporates a novel adaptive multiplier method to enforce actuation constraints during the optimization process. Further, in the case of underactuation, such as small single-thruster spacecraft, the paper proposes a guided technique for the geometric approach to direct the attitude using the optimal translational trajectory. The geometric approach is verified through several case studies, where it is compared against a direct method optimization and a concurrent controller, to demonstrate the computational efficiency as well as resulting optimal trajectories of the approach.</p>