I love Git, but I'm pretty sure there's no way to explain it simply.
Mercurial on the other hand has a pain in the ass datamodel (so much so that most introductions to it that I have seen do not even approach the topic), so you actually do have to learn all of the UI commands to get an idea of what can be done and what cannot be done. It is far more complex than git.
I really cannot think of a simpler VCS than git. I've used plenty, but never got off the ground faster with anything else.