This study proposes a control method for hovering docking based on direct lift control for fixed wing unmanned aerial vehicle (UAV) towed aerial recovery tasks. Firstly, a six degrees of freedom nonlinear model of the UAV is established, and the aerodynamic influence of trailing-edge maneuvering flaps is also taken into account. The modeling methods of other necessary systems in the scenario of aerial recovery are introduced. Then, based on the derivation of the relative motion model between the UAV and the drogue during the hovering docking process, a hovering docking position controller is designed. In terms of UAV position tracking control, the flight path angle controller, UAV attitude controller, and angular rate controller are designed based on active disturbance rejection control (ADRC), backstepping control, and direct lift control. The simulation results show that the control method designed in this paper not only effectively reduces the required airspace for the docking process, but also has better dynamic response and higher docking accuracy compared to traditional control methods.