Martial Arts/Self-defense for complete beginners

[glen-highland.livejournal.com]

My wife and I are thinking about learning how to fight off bad guys a few days a week after work. Can anyone recommend or share experiences with their karate/kung fu/jiujitsu/judo/capoeira/etc. school preferably somewhere in between Union and Davis? Sorry so vague, we don't have much to go on. We don't want anywhere cultish or overly spiritual.

On the same topic, we saw some pictures online from various schools where everyone is sharing sweaty foot juice. Is it pretty common to go barefoot? Is it a requirement? :-)

Thanks in advance!