Depends on where you are hiking. There are hiking boots that are sturdy and will protect your feet and ankles. You might get away with tennis shoes but beware of snakes. . .Ask who you are going with what they recommend. . .
Well considering you've never been on one I doubt you have these. But Hiking boots are perfect, they're lightweight, good support and nice tread. Wear something that has good support and tread, you don't want to slip and fall off a mountain now!
It really depends on where and how far you are going, a little city hike a comfortable pair of running or walking shoes will do. In the mountains you would want to have a sturdy pair of hiking boots that give you quality ankle support. In a jaunt up a creek with a lot of water a good pair of water sandals would be wise. First time out I wouldn't spend a fortune on shoes you can find all that I mentioned at any outdoors sporting good store at fair prices.