Before I got brave enough to try clipless, I used PowerGrips. They are these wonderful straps that hold your foot to the pedal pretty securely, but not so much that you can't pull your foot out FAST. I highly recommend them!

That said, there is also the possibility of pedals that are a platform on one side and SPD on the other. You can wear mountain bike shoes with a very small cleat and use either side. Even one foot clipped in and one out.