Buy a book/video/dvd and just get out there and learn would be 1 option.
I would suggest taking one weekend class and getting a book/video etc.
Take your time. Do not try to impress anyone. Practice the awkward stuff.
Docking can be enough of an emotional strain to ruin a day of sailing. So practice leaving the slip and coming back into the slip.Same with raising and lowering your sails,anchoring, etc. If you get comfortable with these thing I think it will make learning the good stuff easier.
The gentleman with the #2 post has some good videos. Wear a PFD until you get comfortable with sailing and always assume the other boaters do not know you have the right of way.
Welcome to the seas.Enjoy!