Sell me on 40K for casual play

Hi,

I've got a group of friends that play 40K. Now, I don't know jack about the game, the setting, and it seems like finding a place to jump in is going to be daunting.

Can this be played casually? How complex is the game and the rules? How long are short games? How much is reasonable to expect to get into the game?

I'm pretty much a war/strategy game newbie. I've played a little Warmachine, and our RPGs always use minis/tactical combat. But that's about it.
Please help.

Thanks!

I didn't find the right solution from the Internet.

References:
forum.rpg.netgfg/showthread.php?799825-Sell-me-on-40K-for-casual-play
animated sales videos