As charlie said - to arrive at a specific location. A very common phrasal verb. Imagine you are in a taxi and approaching your destination - you could say the the taxi driver "Pull up here on the left please"

= "...arrives at the place (disembarkation gate) where the passengers get off (disembark)..."

I agree with the corrections but will add it's only for driving. So a car, a taxi and a plane (when it's on the ground) can pull up to the gate = drive until the gate and then stop.