The common domestic keyboard instruments in Bach's time were the harpsichord and clavichord. The piano was a new invention in Bach's lifetime, but (1) he wasn't very impressed by the ones that he tried, and (2) early pianos sound very different from modern ones anyway.
The harpsichord was usually preferred for absolute beginners, since it encouraged developing clean finger-work, and it's technically much easier to get a "good tone" from a harpsichord than a clavichord. Unlike the harpsichord, the clavichord is "touch-sensitive" like the modern piano, but it needs much better finger-control than a modern piano to play it well.
The other important keyboard instrument of the time was the organ. In Germany the organ was exclusively a church instrument and playing dance music on it was considered inappropriate, but in England pipe organs were often used for secular music both at public concerts and in (large) homes. Handel wrote plenty of secular organ music, including some minuets - for example at about 12 minutes into
Of course if you play a digital piano with a harpsichord sound, the "feel" of the keyboard doesn't change and is very different from playing a real harpsichord - but use whatever sound you prefer.