I'm far from an expert, however after talking to some of the more experienced yakers here on BWE, I peddle to just outside the break line, clip my drive into the upright position, pull up my rudder, look back and try and time the sets. Start paddling as hard and fast as I can. If I get lucky, I cruse all the way to ankle deep water, if not I sometimes have to jump off and ride the yak in from the back. The main thing I try to do is stay perpendicular to the beach.
And when launching, I have found what works for me is I just paddle as hard and as fast as I can until I am outside. Staying perpendicular is my main objective also, when launching. Trying to peddle or dropping my rudder, I usually get sideways and I have to paddle anyways to get straight again or flip.
I think the more experience guys on here could chime in and give us there tried and proven techniques...
Geno