Apparently, the current method to auto-start Docker containers (from Docker 1.2) is to use restart policies. This will control how Docker should handle starting of the container upon startup and re-starting of the container when it exits. I've used the 'always' option so far, and can confirm that it makes Docker auto-start the container at system boot:
sudo docker run --restart=always -d myimage
Documentation Excerpt
Restart Policies Using the --restart flag on Docker run you can
specify a restart policy for how a container should or should not be
restarted on exit.
no - Do not restart the container when it exits.
on-failure - Restart the container only if it exits with a non zero
exit status.
always - Always restart the container regardless of the exit status.
You can also specify the maximum amount of times Docker will try to
restart the container when using the on-failure policy. The default is
that Docker will try forever to restart the container.
$ sudo docker run --restart=always redis
This will run the redis
container with a restart policy of always so that if the container
exits, Docker will restart it.
$ sudo docker run --restart=on-failure:10 redis
This will run the
redis container with a restart policy of on-failure and a maximum
restart count of 10. If the redis container exits with a non-zero exit
status more than 10 times in a row Docker will abort trying to restart
the container. Providing a maximum restart limit is only valid for the
on-failure policy.
Docker has this page that explains how to do it with upstart and systemd. I agree that it doesn't seem like the right thing for Docker. Their solution is to run docker start, which assumes that you've already created your container. I would think that you'd either do docker run --rm in the upstart script (treating it like a brand new process and container from an image) or just let the docker daemon restart the containers itself on boot (as it will by default if you do nothing else). Upstart has the advantage of allowing easy start/stop of processes, but you get that with docker's start/stop too!
I think it's weird to force the user to manually create a container (with all the correct port/volume bindings) before the upstart script will work.