I have taught myself to do most things in my life including flying an airplane.
Not to sound half cocked but lesons arnt for everyone.....OK taking off in an airplane is not the smartest thing to do I admit..but I logged over 150 hours in Alaska
before my first lesson...Flying out of short bush strips and on the beach
Just go out and do it..I know nothing of your boat..so I would ask your self these questions
1) Can it sink if dumped?
a) add flotation to it so it wount
2) Are you comfortable in the water
with a life jacket on and could swim to shore?
a) dont venture out any further then you know you can swim for a while.
My fist sail ever was in a 21 Mac with my girl friend...we left the marina on a warm sunny day with light airs if 6 to 10 max...hoisted sail went down the river into the bay ..sailed around a couple hours back up river and almost sailed into our slip and would have if not for a communication error ...she droped the main sail...it aint rocket science...
Pick a light air day and go for it.
You will do fine if you keep a level head