I want to configure a Kubernetes cluster with only Docker containers without using vm on one machine. I think it will be, but I ask because it may not be.
Checkout Kubernetes In Docker - kind This is probably what you want.
If I am getting your question right you want to use Kubernetes on a physical box without using any hypervisor (no vm)
You can install minikube and use Kubernetes as below
minikube start --vm-driver=none