Step 1. is to Download binary from Docker Toolbox
Step 2. Stop boot2docker (boot2docker stop) and make sure to quit virtualBox. It might be a good opportunity to upgrade VirtualBox (make sure VirtualBox version is 4.3.28 or greater)
Step 4. Once you get to Quick Start (see above) I open it in terminal. The biggest difference between Boot2Docker and Docker Machine is that Docker Machine allow you to create multiple machines so you have to specify which machine you are working on.
When migration is completed, installer will create default machine called "default" so to start the default docker machine, you specify docker machine (see below)
Now you should be able to run your familiar docker command but it didn't for me because I got timeout.... and looks like it is still looking at boot2docker vm which I already shutdown...
I realized that the following entries are in the .bash_profile. so I removed it and reload bash_profile
# docker:
export DOCKER_CERT_PATH=/Users/naoko/.boot2docker/certs/boot2docker-vm
export DOCKER_TLS_VERIFY=1
export DOCKER_HOST=tcp://192.168.59.103:2376
alias docker="docker --tlsverify=false"