For beginners, we have "offense/defense" sparring. Each person will take turns doing only offense or only defense. This gets students used to the idea of sparring while taking away most of the danger of the "wild" factor.
It works well when a beginner is teamed up with a more experienced student to guide them and make sure things stay safe... if the newcomer hurts the experienced student, it's usually the experienced student's fault (assuming no massive size differential... like teaming up a new 35 year old ex-marine with a 10 year old upper belt). If the experienced student hurts the newcomer, there aren't enough pushups to make up for it (definite no-no, as odds are good that the person may quit over it).
Once the students start getting a feeling for distancing and some techniques under their belt, then they can start "real" sparring with others of the same rank.