IPSC/USPSA rules allow for a penalty to be assesed if the shooter cannot comply with the course design - but I've only seen that happen at really big matches. We are happy to see you come out and shoot with us, and have fun.
Go to USPSA.org, and use the 'club finder' to locate your nearest club. Bring your handgun and holster to your first match. It's hard for a visitor to come to our matches and not get "assisted" into trying a stage.
You may not be the match winner, but I'm sure you'll have fun. And you'll meet some of the finest like minded people on the planet!
(P.S., I'm a Charter Life member, and this is my 20th year as a Rangemaster. It's addictive!)
Edited to add: I just jumped over to USPSA.org, and found 2 clubs in DE. Give the contact folks a call and find out when their next match is.