To get to land, several options are possible:

Use the annex of your sailboat;
Use a taxi boat or water taxi;
Anchor the boat in a marina or port where you can dock directly.

Note that if you have opted for a rental with a Star Voyage Antilles skipper, he is the only one authorized to use the annex for all your trips outside the boat. It is therefore your Captain who will take you where you want, wait for you there or come back to pick you up.