Everybody needs some rest. Probably Parati-Angra dos Reis with its beautiful surroundigs, nice little hotels (pousadas) and the best boating site in Brazil can help.
To pick one little spot to stay at, why not refer to Parati hotels?
And for the utmost boating fun please have a look at Coconut Yacht Adventures. This charter company will most probably organize the sailing tour you dreamed off. And no boating experience is required.