Anchoring instructions all seem to involve the use of the motor. This is how I do it under sail without the use of the motor.
"Raising the anchor" instructions tend to involve motoring up to the anchor while someone brings in the rode, once the anchor is in the roller, then motor out of the anchorage and then begin sailing.
You don't actually need a motor to raise the anchor on a sailboat.
If in light airs, raise a double reefed main and then begin raising the anchor with the windlass. The main will keep the boat pointed into the wind while the anchor comes up.
As the anchor comes up, the bow will be into the wind and the reefed mainsail will stall, keeping the boat relatively in the same place.
Once the anchor is up, quickly raise the staysail to balance the sailplan and begin powering up the yacht.
With the sails up, fall off the wind a bit and begin sailing out of the anchorage.
Once into clear waters, shake out the reefs and sail away.
In Heavy Airs
If it is blowing rather hard, you will begin drifting as soon as the hook comes off the ground. Make sure you are far enough off the lee shore before you begin raising the anchor.
If you have a lot of leeway, raise the anchor and then raise the staysail to get the vessel moving through the water. Begin traveling on a broad reach as you then raise the reefed mainsail.
After you get all the sails up and set, then set your course and begin sailing towards your destination.
If you don't have much leeway, it may be best to wait until the winds become more favorable. If you have to raise the hook immediately due to deteriorating weather and have little leeway, you will first raise the anchor immediately followed by the reefed main and staysail. Then set the sails and begin working off the lee shore in a hurry before you find yourself on the lee shore.