Launch the boat and hold onto it in waist deep water. Put the rudder down and put the centerboard in about half way down. Holding the tiller extension and mainsheet in your hand closest to the stern, push off hard and flop into the cockpit.
Launch the boat and hold onto it in waist deep water. Put the rudder down and put the centerboard in about half way down. Holding the tiller extension and mainsheet in your hand closest to the stern, push off hard and flop into the cockpit.
Actually, I don't bother trying to grab the mainsheet until I'm in the boat.
One tip: make sure the boat is slightly pointed away from the wind so that you're clambering onto the windward side. Also make sure you have enough room ahead/leeward to drift a bit while you're getting squared-away in the boat.
On the rare times I need to launch at a pier, (after the boat is fully rigged) I generally try to untie the bowline, and then sit on the deck and maneuver the boat parallel to the pier using my feet. Then I hop/step into the boat and "away you go". This works increasingly less well as the wind increases...
I have a small folding grappel anchor with about 10 feet of polypro (floating) line on it. Thankfully the main beach I launch from has a buoy you can tie off to while dragging the dolly/trailer back to shore.