In a selected port, with a crane. That’s basically the tl;dr from the video Kalash posted at 4:23 time index.

But the Houthis didn’t fire at warships. I know some outlets had similar sounding titles but they were clickbait and their own articles were contradicting their title. The Houthis were firing towards merchant vessels and within 20 km or so, there was also a warship, which then reacted.