I arrived at CDG for my first time ever Saturday morning. We had a nice walk from the American terminal to the RER station and then caught the train into Paris. The signs were well placed, multilingual and the people very friendly.
Except for the fact that I finally crashed around 730pm and now up at 3am Paris time, I'm LOVING my first day here
Best of luck meeting your friend at the airport. Speaking from my first experience it seemed very easy to navigate CDG