It is allowed to sail in non-motorized vessels (canoes, kayaks, SUP boards) on rivers and lakes with multiple owners, such as the entire Gudenå river. However, if a lake has only one private owner, you must first obtain permission from the owner to access the lake. On public lakes and rivers, you are free to move around as you wish. There may, however, be cases where public authorities have restricted access for nature conservation reasons.
If you wish to sail on a river, make sure the water depth is sufficient. For both rivers and lakes, you must be able to access the water yourself. Avoid disturbing the nature, and use boat docks, launch sites, and similar facilities if they are publicly available.