Sailboat owners need crew to sail. Commonly they don’t have enough crew to go sailing all of the days they want to sail.
If you haven’t sailed before, or have limited experience, all sailboat owners will teach you the skills.
What will it cost? Nothing. Sure you might have to get some deck shoes and rain gear, sailboat owners are just looking for help and making new friends, as you are too.
What does it take? Sign yourself up on a website Crew List, then the sailboat owners will contact you.