I don't condone it, but if you feel you want to try it. Start with sitting on the dock. Let the rope stretch out but not tight. Have the driver take off as normal and use your arms to adjust the tension as you start to leave the dock. Like getting up in deep water, sit back until the board planes off. Oh yeah, have someone stand behind you during your first few attempts, and wear a jacket. When you are comfy with that try it standing. After you get your board on your feet, get to the very edge of the dock so that your board is 50/50 on and off the dock. Same set up with the rope. Straight with the rope slack in the water. As the boat starts to pull away and the rope starts to tense the driver should take off like a deep water start. As you feel the tension build in the rope hesitate shortly. The idea is that you want to jump straight up in the air (this helps keep your balance) and let the boat pull you away from the dock. Don't try to jump super high, just enough for the board and fins to clear the dock. And again, have someone stand behind you and wear a jacket.
Have fun, be safe.