Hey Keith,
I totally hear what you're saying. As far as getting into sailing, there will be as many answers as there are sailors. Some advice will be good and some...
I don't know exactly when, how, or why I heard "the call of the sea" as a girlfriend described it but I understand what you're saying. It conjures up romantic images of the sea but I didn't find any offers to sail with complete strangers so if you want to get moving with your dream I suggest you start looking for a school you can afford with the size boat you want to learn on.
In 2007 I looked around for a reasonably priced sailing school. Most of them only last about 3 - 4 days and you'll probably be huddled together in either a small boat taking turns on the helm and manning the sheets or depending on your wallet, a large boat taking turns on the helm and manning the sheets. In hindsight I'm glad I learned on a small Flying Scot because it taught me to be quite sensitive to the wind and I wasn't interested in being dunked by a Sunfish while trying to learn to sail, but to each his own.
It sounds like you'll probably like sailing so get into it deeply and patiently, key word, patiently. A wonderful thing about sailing is that a lot of it takes place on land - if that makes any sense, but it does. Read about boats and think carefully about what you want to do with her and where you want to sail her. I suggest not starting too large but not too small either but a boat you can grow into and be comfortable with for a while. I learned on the 19' Flying Scot and moved up to 22' small keelboats the next year because that was my target boat. I originally thought my first boat would be a Hunter 33 but I matured in my thinking and bought my Hunter 22 last month and she's perfect.
In closing, I've learned this, and I think it helps in finding the right boat: first learn to love sailing and what it's about and then buy the boat not so much because you want a boat but you need a boat to sail.