Here's a diagram showing where you want to end up:

The final orientation of jib and tiller are roughly parallel, so that the tiller tries to steer the boat up, and the jib tries to pull the bow down, so they balance each other.
As you can see, the main will not need to rest on the stays, but you can always cleat it off so the boom does not touch the stay. (It's OK for the sail cloth to do so, just make sure your spreader ends are taped or have rubber boots). (The main in the picture is shown more tightly sheeted than you want, you'll want to let it out a bit more than that).
The boat will not actually stop, but move slightly forward (so water flows over rudder and CB allowing you steerage) while drifting downwind. The result is a movement a bit more forward than downwind with speeds around one knot or so, depending on the wind.
You might find that you need to experiment with the initial tack and the speed at which you set the final tiller position. Don't be surprised if the boat simply completes the tack on your first try -- simply bring the jib over, and try the same thing on the other tack. In short order you'll get a feel for things. You also want to make sure not to tack so slowly as to stop the boat entirely. Heaving to requires some remaining forward motion.
As Tim wrote, the main is left loose. If you pull it in a bit you will find that the angle of your drift will change to a more forward angle. This would allow you to "steer" a bit, but if you pull the main too far in, you start sailing again. After you gain a bit of practice, you might be able to use it to "drift" into a downwind position on a dock.
Like so:

(Click on the images to see them at a larger size).
Good luck!