On my Pearson 30, I straddle the tiller (as some have already suggested), get a couple wraps on the winch, and steer with my knees as I tack. I wouldn't want to do it this way without self-tailing winches.
I have a tiller pilot, but the throw is so short that it takes forever to come about. Doesn't work very well in light airs.
Aside from my weekly races, I seldom sail with people who know what they are doing, so I'm usually single-handing even when there are other people aboard. It's good practice for when you're actually alone!