Both are equally novice friendly.
IDPA is geared more towards tactical scenarios. The round count is lower (max 18 rounds per course), there is less running, and the rules are designed to enforce a "closer to real life" simulation. IE, you must reload behind cover, if you reload prior to slide-lock the mag has to be put in your pocket, etc. Gear wise as stated you also must use cover, and you wear less gear (one gun in a holster and 2 mags on the belt). If you're looking to practice more for concealed carry and such then it's probably a better choice.
USPSA is less about real life scenarios and more about aproaching shooting competition just for the sake of shooting. Stages are longer (32 round max), you can have more steel targets, and determining what order to shoot the targets in and when/where to perform reloads is not only up to the shooter, but is a major factor in stage performance. No cover garment required here, and you can wear as many mags on the belt as you want (most people seem to wear 4, though I've seen people wear 6 mags on the belt at matches). There are categories of guns that can be shot in USPSA too that are not even useable in IDPA due to their "impracticality". For instance ported guns with optic sights fall into "Open" division here. Some of the guns used in those divisions has lead to the perception that USPSA can be expensive to compete in, but there are Production and Single Stack divisions that cater to the more budget minded (if your .45 is a 1911 it'll fit fine in Single Stack - if not your .38 can be shot in revolver division or the Hi Power in Limited-10, though in those two you likely won't be as competitive as the 1911 in SS).
I've dabbled just a bit in IDPA (and Steel Challenge) but I tend to prefer USPSA. The mental aspect of "solving" a stage and figuring out the best way to run it just appeals to my inner problem-solver
. Either is fun though and either will do a great deal to improve your shooting. I've bee shooting guns for over 20 years - handguns for half of that. I started shooting competition about a year ago and my shooting has progressed more in that time than in all the previous time combined.