A 6' - 6.5' lite to med/lite fast action tip spinning rod & 1000 series reel with 4-6lb test line will work just fine. Just practice at home until you're comfortable with your technique and fairly accurate.

Aim with your line !! By that I mean, use the rod tip and jig as your "gun sights" and angle your line just a few degrees above parallel to the water (jig slightly higher than the rod tip). You want the jig to land just at the edge of the dock, then skip across the water and back under the dock.
I like to let go of the jig first, and as soon as the jig passes the end of the rod, then let go of the line with your rod hand (finger). Time the release just right, and with practice you'll be shooting a jig into a coffee cup at 20ft

Just ALWAYS, ALWAYS make sure you have the jig hook pointing AWAY from your finger/thumb !!