I would recommend a beardie, or maybe a uro. If you are looking for a hardy, friendly lizard that you can handle, it's hard to beat a bearded dragon. You could try a uro too but they are a bit more demanding than bearded dragons. I have no experience with dwarf tegus but I seriously doubt they would make as good of a beginner lizard as a beardie.
As for lizards bonding with humans... this is a controversial subject. Many, many people (myself included) feel that there is a common bond between us and our beardies or iguanas. Now it is obvious that friendly lizards don't love their owners. They could probably care less if we died, as long as they were still fed. But I think that some lizards, especially beardies, enjoy human interaction to a limited degree.
That being said... bearded dragons are usually very tolerant of handling, but they are not something that you can walk on a harness or carry around for hours at a time. But they are docile, beatiful, interesting animal that you can definately interact with on a daily basis. And that's really what you're looking for, right?