I really like going out by myself, because I can experiment without fear of looking like an idiot, and since I have to depend on myself 100% I learn alot every time I go out.
The first time I did this when I was learning, which was about ten years ago, I taught myself how to heave-to. Not that I was trying to heave-to, I was trying to tack but as the bow passed through the wind I reached for the windward jib sheet to take it off the cleat and my hand came off the tiller. I lost my balance and fell backward onto the settee pushing the tiller to leeward. My jib was still cleated to windward and suddenly the boat had a comfortable, easy motion. "Wow, I'm hove-to!" I thought, trying my hardest to make it appear to the other boaters nearby that I had MEANT to do that.
BTW, self taught: yes, and another strong endorsement for David Seidman's book.