If you don't have it yet, buy Dave Seidman's book, The Complete Sailor... you won't regret it.
And another self-taught sailor here who recommends Seidman's book. Don't be fooled - when you first look through it you'll think it's way too basic. It's not too basic, and there is a ton of information there. I bought it on the strength of one drawing - how to heave-to. Of all the books I was looking at, this had the clearest explanation, via a drawing, of how to heave-to. It made immediate sense to me.
Go get it. Enjoyable reading, too.