For similar usage, I settled on Shimano A520 pedals, marketed as their "road/touring" SPD pedal. SPDs are typically sold as MTB pedals, but the shoes permit normal walking. As a city rider, this is a key benefit for me. I run all my errands and do all my shopping in my SPD clipless shoes. My current shoes are a Bontrager model that's no longer made, so I can't make a recommendation.

If you think you may still want to use regular shoes occasionally, the A530 pedals offer a platform on the other side. However, while some people think double-sided platform/clipless are the greatest thing since sliced bread, I found they were a pain. It seemed like no matter which shoes I wore, the wrong side was always up--which is frustrating in the middle of a busy intersection. Within a couple of months I found that I strongly preferred clipless, and switched to the A520s.

More importantly, I followed the advice frequently given here to get my first clipless at the LBS. At my LBS, they swapped the pedals, did a cleat fitting, and gave me lessons for the (MSRP) price of the shoes and pedals. I was out the door for about $170. They also made me practice for a half-hour in the parking lot before sending me on my way. As a result, on my first ride in traffic (home from the LBS) I was confident. And four years later, I've still not had my first clipless fall.