One of the great things about Docker is that there are a lot of different orchestration engines that work with it. If you watched the video in the Introduction to Docker post, you'll know a bit about Docker.
Mesosphere DCOS (Data Center Operating System) is a fantastic PaaS on top of your own infrastructure or IaaS in one of the public clouds. In the video below, Jason Swartz from Mesosphere and Ralph Sqillance from Microsoft demo getting Mesoshere running in Azure and getting Docker containers running on that.