Try sailing. No need to have an expensive yacht - a sailing dinghy or a humble daysailer will do. (In fact, the smaller the boat the more direct and intense the experience will be.) Older but perfectly usable small boats are surprisingly cheap. What you do need of course is a quiet stretch of water, preferably without too much other maritime traffic.
Read up a bit and have a try yourself, ideally on a smaller lake during a light breeze. Perhaps using a rented or borrowed boat first.
And if fiddling with sails is not your thing, or your area has only rivers but no lakes, canoeing can be very relaxing too. Today you can buy light but sturdy inflatable canoes made from hi-tech drop-stitch material that take just 10mins to deploy.
Of course, even when the risks are minimal, always think about safety - life vests etc., especially in case you take children with you.