The navigation is best learned by:

1st - Having someone walk you through a fictitious or fantasy trip, on the chart, from where you are to that fantasy port of call that you've always wanted to make. This teaches you how to plot courses, turn bearings, how to take bearings off your magnetic compass, danger bearings, and to plot every turn will teach you how to plot on a chart.

2nd - Don't forget then to figure out the tides and currents at the port of departure and arrival, as well as those places, daily, that you are passing near.

3rd - Calculate what speed you hope to make (on a sailboat, 5kts is the rule of thumb) and layout your DR (dead reckoning) calculations along your route.

4th - Apply it to your trips out into SF Bay until you get proficient in the art.