What kind of (31 footer)?
The four times you were out did you (do) anything related to sailing the boat? Or were you just along for the ride?
Getting out of the marina or off the mooring and docking when coming back are the touchiest times. Reading the weather/wind are also very important BEFORE you go out are something you need to learn. They are best learned from an experienced sailor.
Checking out the advise from this forum is a good start. Watching the above videos will also be very helpful
Good luck. DS