Having joined the ship, Dora drunkenly got into bed (7)

I believe the answer is:

boarded

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'having joined the ship' is the definition.
I can't tell whether this definition defines the answer.

'dora drunkenly got into bed' is the wordplay.
'drunkenly' indicates an anagram.
'got into' is an insertion indicator.
'dora' anagrammed gives 'oard'.
'oard' inserted inside 'bed' is 'BOARDED'.

Can you help me to learn more?

(Other definitions for boarded that I've seen before include "Embarked" , "Got on (a ship)" .)

I've seen this clue in the Evening Standard.

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