You certainly don't need to plant a whole orchard to enjoy apples right off the tree. Two trees will reward any family with enough fruit to enjoy and share with friends. Even though apples require pollen from a different cultivar to set fruit, if you only have room for one tree most likely there are plenty of crab apples in your neighborhood that will provide the pollen your tree needs.
Before choosing an apple tree to plant, take a look around your neighborhood. A pollen source should be within 100 feet of the apple tree you plant to ensure the pollen gets to your tree. If you don't see any crab apples or other apple trees that close, your best bet is to plant two trees of different varieties. Don't worry-most apple trees are grafted onto dwarfing rootstocks these days, and only grow to be about 8-10 feet tall. So even if you're short on space, you probably have space for two of these trees.