The last reply is quite correct.
First of all, you do not need a pole. While nice, we did without a pole for years and years. Just a line attached to your mast, thrown over the hull and to the sailors on the hull in the water.
Best technique is to get the bows pointed toward the wind as much as possible (usually 45 degrees is pretty good) and then lean out at 45 degrees. Should come up pretty quick. Be sure to grab the hull your standing on.

To ascertain you can right the boat, try righting the boat on dry land.
Rick