You have a great attitude towards your first race.
Running should be fun...enjoyable...and rejuvenating.
With that in mind...run on the grass! It's God's surface.
I train lots of trail runners and when they get on road/concrete they do awesome as their legs are in much better shape than running on hard surfaces alone.
I'd certainly recommend a long run or two on the roads...but generally you should be okay on the grass.
And if you really want to take away the aches and pains from running I'd recommend...
a) Learn a running form (ChiRunning, Pose, or Evolution...I'm biased towards ChiRunning of course). Just learning how to run will help take away soooo many aches associated with bad habits like heel striking.
b) Make sure you have a new pair of shoes.
c.) Don't overtrain. Go slow.
d) Practice yoga. Do this three times a week.
All these things will work wonders. I've coached many people to do their first half marathon or marathon using these ideas.
Good luck,
Gary Smith
www.socalrunning.com
www.marathontraining.tv