I don't know about felt recoil, but I've fired the Glock and toyed with the HK extensively. Neither should have much recoil to worry about.
I would get the HK over the Glock in a heartbeat. I couldn't shoot the Glock worth a darn, but that's not why. I LOVE the Variant 1 setup on the HK. It has every choice you could want, available simply with one safety lever. You can go cocked and locked, double action and locked, double action and unlocked--everything.
I saw one today for $570 that I would've got if it were in 9mm but it was .357sig.