Yep. You have the pistols; just need a holster and double mag holder along with 3 mags. A good sturdy belt should also be a part of your rig. None of this has to expensive to get started.
Fobus holsters are reasonably price and work fine for IDPA. They make the pistol holster and the mag holders.
You will also need a cover garment, be an untucked shirt, jacket or concealment vest. Eye/ear protection, as well.
Most IDPA clubs will help new shooters with the rules, etc. Take your time and make accurate shots. The main thing is be safe, and then have fun.