Bow into the wind/current, check depth, drop anchor and appropriate anchor rode, back down on anchor to set, swing stern towards shore, use dinghy to bring stern line to shore and loop it around a tree or other solid, smooth surface, return to boat with bitter-end of line. Tie off bitter end of stern line to a cleat, then adjust how near to shore you want your boat by loosening or tightening anchor line and working end of stern line, keeping in mind tide changes.
When it's time to leave simply fire up boat, untie bitter-end of stern line and pull it back on-board. Weigh anchor and away you go.
I carry 600 feet of polypropylene for a stern line, which is floating line.