My favorite pair of shoes was a pair of New Balance minimus "life" shoes I had for a couple of years until about a year ago. I didn't care for the color (various grays), but they were slip on, with no laces, and they were VERY comfortable to walk around it. Easily the best shoe I've ever owned, and of course New Balance discontinued it because I guess nice things just can't ever last.
After that I now wear a different New Balance minimus shoe. The color scheme is much nicer (mostly black and blue), they have laces, and they were pretty stiff when I first wore them and not nearly as comfortable as the life models were without socks. However, with socks they are still very comfortable and these shoes are actually designed for athletic activity, so I can wear them when running even though that rarely happens. The Navy technically forbids minimal-style shoes for PT, but these look almost identical to regular tennis shoes so nobody notices. I will probably stick with minimus shoes for a long time, as they really feel much better on my feet than thick-ass soled tennis shoes I used to wear.
Also, for laces, I just tie your regular bow-knot then add an extra knot with the bow parts. My laces have never loosened or come undone on any shoes I've done this with, and I've been doing it since I was 7 years old (I'm 25 now).