Since I bought my road bike I've had flat pedals on it, apart from a few weeks when I tried out Shimano Ultegra 6800 SPD-SL pedals. I want to revisit going clipless but found the SPD-SL pedals a bit too nerve-racking and the stress and worry of not being able to unclip spoilt my rides.

Is there a gentler way to get into clipless pedals? I realise I may also have to purchase appropriate shoes that will fit the pedals. I'm really looking for a 'beginners' clipless pedal system that I can use more confidently without falling off my bike at traffic lights.