The Maruti Suzuki Brezza is a good option for you. The car is spacious, has a comfortable ride, especially so at low speeds in the city, and the 1.5-litre petrol engine is refined. The automatic gearbox is also very smooth, being a torque convertor unit, which is the smoothest type of autobox around.
The Brezza will also meet your requirements of a worry-free ownership and low maintenance. Maruti Suzuki is expected to give the Brezza a facelift in the coming months, but what the changes are is not yet known.