How to enable docker on arm aarch64

I am interested to run docker on Arm aarch64 board.Currently i am running Linux 4.9.0-yocto-standard on my board,and i need to run docker on above OS.So i have customized my local.conf and bblayer.conf file to enabled docker on board,and it was successfull,the issue is only docker subcommands are not working(subcommands:docker ps,info,images etc).The detailed log is shown below.
root@xxxxxxxx:~# docker ps
Error response from daemon: 404 page not found
root@salvator-x:~# [ 143.758164] audit_printk_skb: 6 callbacks suppressed
[ 143.763172] audit: type=1325 audit(1553864701.319:13): table=nat family=2 entries=8
[ 143.770891] audit: type=1300 audit(1553864701.319:13): arch=c00000b7 syscall=208 success=yes exit=0 a0=4 a1=0 a2=40 a3=3d8e0a90 items=0 ppid=3345 pid=3374 auid=4294967295 uid=0 gid=0 euid=0 suid=0 fsuid=0 egid=0 sgid=0 fsgid=0 tty=(none) ses=4294967295 comm=“iptables” exe="/usr/sbin/xtables-multi" key=(null)
[ 144.065357] audit: type=1325 audit(1553864701.627:16): table=nat family=2 entries=8.

How can i fix this.please support