Embodiments described herein relate generally to a sailing vessel that can substantially obviate the heeling problem experienced by classical sailboats. During navigation, the sailing vessel is driven forward by an aerodynamic force exerted by wind on the sail, and balanced by a hydrodynamic force exerted by water on a float on the stern of the sailing vessel, the aerodynamic force and the hydrodynamic force being parallel or substantially parallel to a longitudinal axis of the sailing vessel.