Ayyyy...just got a board after not riding since middle/high school:
Bf got a Land Yachtz Tugboat (left) while I got a Dinghy (right) - Bear Trucks 105mm, Hawg Fatties 63 mm 78a wheels. Love it...such a smooth ride!
Never too late to start. Like what and said, just have fun and be cautious when first starting out. It sucks falling but if you get pushing and balance down you should have a pretty smooth ride. My bf is 28 and bought his first board above; plus, I get to teach him!
I would advise against a Penny board simply because they're waaaaay too small to learn on. You'll risk falling more and not properly setting your feet up right if you have no experience. They're also kind of a novelty item. But hey! Get one if you gain more experience...I just like the feel of wood under my feet as opposed to plastic. Standard longboards maaaaybe...but it might even be too big for you starting out as well. When choosing the board for my bf we went with the Tugboat since it's similar to a standard skate deck size only slightly wider. On top of that is a cross between a longboard and skateboard (cruiser). Dinghy is also a good next choice too...kinda the same size as my old deck in hs but may be small for your feet. I just know that with these two lots of people raved about them on different forums and I did a lot of research before buying.