Installing Portainer https://pimylifeup.com/raspberry-pi-portainer/

sudo docker pull portainer/portainer-ce:latest

sudo docker run -d -p 9000:9000 --name=portainer --restart=always -v /var/run/docker.sock:/var/run/docker.sock -v portainer_data:/data portainer/portainer-ce:latest

Also start a docker agent if you want to control other docker instances on other PI's

docker run -d \
  -p 9001:9001 \
  --name portainer_agent \
  --restart=always \
  -v /var/run/docker.sock:/var/run/docker.sock \
  -v /var/lib/docker/volumes:/var/lib/docker/volumes \
  portainer/agent:2.19.4