You only control one character and the fighting system is very simple and easy to get into.
Though I myself found Dragon Quest VIII to be a bit bland and too slow paced, I would recommend trying that. It's turned based and has many of the same basic mechanics that you'll find in other JRPG's but you'll get a party to control. Controlling a party isn't as difficult as it may seem. Given that Dragon Quest VIII is turned based you can take your time selecting the actions of your teammates.
Pokemon is also a good place to start as well since it is basically a JRPG. It's a decent alternative if you can't get a hold of the original Dragon Warrior games and still has the basics of leveling up, learning skills, etc.