If you have the $$ and space to store one, buy a small sailing dinghy and have at it.
You could also take lessons.
I like the lessons route because it is an easy step into a new activity. It would suck to buy a $300,000.00 live aboard ready to cruise the world only to find that you have a previously unknown terror of being out of sight of land
Take a first small step and have fun!
Welcome to the board.