To some degree or another, we're all self-taught, but most if not all of us started by learning enough of the basics from someone else that we could survive. Find our what bribe is necessary for your friend to help, talk with sailors at nearby yacht clubs or around your dock area about either crewing for them or their coming on your boat for a few hours, look into parks and rec dept or college classes, take a learning vacation at a sailing school thats already in session. The critical thing is that you get some assistance while you master the basics, so that you can progress to teaching yourself. Remember, the cost of tuition can quickly become more than you want to pay if you make an otherwise avoidable mistake. The level of skill, experience and knowledge that you have described is too low for your safety.
Jim Kolstoe, h23 Kara's Boo