It depends on where the wind is coming from. If the wind is coming from the dock and land, then raising the jib alone is a good way to get away from the dock with a fair amount of control and ease...then raise the main when you're further out on the water. If the wind is coming off the water and pinning you against the dock...there just isn't any elegant way to do it—and rowing out a ways is your best bet.
If you haven't already gotten a copy of it, I would highly recommend you pickup Dave Seidman's The Complete Sailor
. It is one of the best books for people looking to learn to sail IMHO, and one I give to most of the crew I have and recommend to new sailors all the time.
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You know what the first rule of sailing is? ...Love. You can learn all the math in the 'verse, but you take
a boat to the sea you don't love, she'll shake you off just as sure as the turning of the worlds. Love keeps
her going when she oughta fall down, tells you she's hurting 'fore she keens. Makes her a home.
—Cpt. Mal Reynolds, Serenity (edited)
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Still—DON'T READ THAT POST AGAIN.