You can learn basics in small craft on your own over time.
Or you can crew with experienced sailors on whatever comes along and learn how to survive the unexpected and excel in seamanship.
My first experience in sailing was a 12 meter crewed by absolute maniacs in a Santa Anna wind 'round the island during a race. Her name was Soliloquy and one of the lads near lost his arm when a halyard slipped.
Sailboats are a joy, and they can kill you quicker than a .45 if you are ignorant, stupid or both. Big fast boats are addicting and without mercy.
