It is not as hard as some would have you believe
I have never taken a sailing course and only read the books after I went out a few times. My approach was to start with the wind abeam (3:00 or 9:00 o-clock) and the sails a flapping. Then slowly pull each sail in a bit and wait. The boat will start moving and the rudder will start to work. Repeat till you notice the speed fall off a bit then let them back out to the "best speed" position.
The hardest part is learning all the terms, head, tack, foot, broad reach, run, ...... the list is endless. Not knowing the names makes it very hard to discuss things going on.