Ah, yes that's a great feeling!
I sort of feel bad for people who are so worried about a scratch in their boats that they never try it. They never get that good feeling. Also they never really learn how to do fine manouvering with sail.
I have an 1975 ALO 28 feet, 3.5 tons, with a couple of scratches and an original engine. With such a configuration you can stop the boat by hand, you're not afraid of another scratch, and you get plenty of opportunities to try your skills