I'd had to clean the area I'd be stepping, kneeling & maybe lying on - the lowest step of the sugar scoop was highly slippery with green slime. Next I had to figure out how to place my body/limbs beside the struts while being strapped in place but able to lean out safely to manoeuvre the unwieldy rudder into position in the disturbed water. I tied both the pin and the rudder so neither could be lost and finally managed to persuade the rudder, which wanted to float away, to locate onto the post and then to slide up it into position.. Then I had to locate the pin in its hole in both rudder and post, so it could be pushed through .. Finally, I had to turn almost upside down, leaning over the support struts, to get the split ring through a hole at the end of the pin in the water, to secure it from coming out of position... Job over! All that was left to do was to get it working as we got underway in some light wind... I was very happy to see it taking over control in place of the autopilot - no battery power needed!