First install Docker from the docker debian repo:

sudo apt-get install apt-transport-https ca-certificates curl software-properties-common

curl -fsSL | sudo apt-key add -

sudo add-apt-repository "deb [arch=amd64] $(lsb_release -cs) stable"

sudo apt-get update

Check docker version to make sure you have the latest 

sudo docker version

Install Rancher - single server non HA:

$ sudo docker run -d --restart=unless-stopped -p 8080:8080 rancher/server

Launch a browser and navigate to host_IP:8080

The default credential for rancher is admin admin

Creating a Cluster:

From Cluster page, click Add Cluster
Choose custom and give it a unique name (named mine dbox)
Skip member roles and cluster options
Click next
For node roles select etcd, control and worker
Save command displayed on screen in a clipboard
Go back to shell and Run the copied command
After successfully running in command in shell, go back to the browser and click Done