My neighbor once told me that, as a junior naval officer, his captain ordered him to take his ship away from the dock and head towards sea. He told me he didn't have the slightest idea about how to do it. BUT, there was a senior NCO behind him, who had done it many, many times, and the NCO told him (quietly, so the Captain didn't hear) how to do it step-by-step.
Learn by doing, under competent supervision. That's the best way. The captain likely knew that the junior officer would have the help he needed, and would learn more by doing than by watching.