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See also this Blog Post
Admittedly I missed the section about boot2docker at in nsenter's README ;-(. Updated the script accordingly. The value-add here is still the bash completion (which I found quite useful)
Copy docker_enter.sh to $SOME_DIR_IN_PATH/docker_enter and docker-enter_commands.sh to ~/.bash_completion_scripts/ or /usr/local/etc/bash_completion.d (or wherever you bash completion scripts are stored)