I struggled with shoes too, where in the world could I get just a pair of shoes to do my spinning class - I wanted the "ugliest pair", I didn't care. Got a wonderful gentleman at a bike store in my area who gave me a deal. Two pair (Sidi's - older, and Shimano's) for $80.oo. He still teases me that I "got such a deal." Yeah, I know.
Then, we bought bikes! I didn't put the clipless pedals on at first, I used the cages, because I too was TERRIBLY intimidated by the whole thought of not being able to put my feet on the ground when I wanted to. But, let me tell you this - there is really no other way to go.
Get the shoes, get the clipless pedals, go out and struggle with it for a day or two (you can ride around in your driveway or a dead end street for a bit to "feel it" before you actually go out there.) Then, like me you may fall and wreck up the same knee you have already fallen on TWICE! and get use to those suckers!
The ride, when your feet are clicked into the pedals is much smoother and more accurate. You can use your body as a machine while you connect with your bike and that feeling is...pure.
klr