The ps command can be used to determine if your system is using init or systemd. If PID 1 is init, then you will use the service command. If PID 1 is systemd, then you will use the systemctl command.

If your system is using systemd, use the systemctl command to start and enable docker.

systemctl enable docker
systemctl start docker
systemctl status docker

If your system is using init, use the chkconfig and service commands to start and enable docker.

chkconfig docker on
service docker start
service docker status