Matt if your feet are relatively coordinated I'd recomend pedals from the start. Saitek and CH both make them.
Personally I liked the looks of the Saitek as they are a bit wider stance.
Saitek Ped Pros:
Wider foot rest positions
Lenght of the foot rests can be adjusted
Tension wheel
Con:
Mine locked up in the full forward position, a LOT. Sent 'em back to Saitek 2x. Got to be such a nuisance I bought a set of CH peds. Smooth sailing ever since.