You will need one that is:
1. Omnidirectional. DO NOT use a cardiod pattern mic!
2. Has a TR/2-conductor plug. This will be the hard part. MOST good mics have a THREE-conductor plug (either TRS or XLR) because they want power (for their capsule) from the device they're connected to. You need either to provide that and then feed the head from there on a 2-conductor plug or have a mic that has its power (and battery) inline or in the mic itself.
The "CD-MC20" that Pioneer sells is IMHO trash. I got my fancy gear out and checked it. It's not linear at all. Blech. Then again, for $20 I guess it's not THAT bad -- but I sure wouldn't mic someone up with it and expect good results.
So I plugged in a nice-quality (not one my best A/V Sennheisers as I didn't have the necessary interconnects to get it power yet not feed a high-level signal out of it, but one of my "decent" lavs that I have in my bag of tricks for times I can't use phantom power as the thing I want to feed doesn't know how to provide it) mic to the head unit and ran the auto-cal.
Talk about waking up the mid and high end..... the result was VERY nice.
Most people after trying the "auto-cal" will find it flat and lifeless if they use the MC20 -- this of course leads everyone to say "just do it manually." The problem is that unless you have a pink noise source and 'scope you CAN'T do it accurately manually, and the head has no provisions to manually set the EQ for the front and rear speakers individually, but it appears it DOES when you run AutoEQ. So find someone with a real mic and run it again, then tweak THAT if you want. The goal is to flatten out the base frequency curve to account for the acoustics in the car, then modify from there if you want for how you'd like it to sound.
Incidentally the time correction is worth it, even if you manually set the EQ, so if all you have is an MC20 use it for the time correction and then shut off auto-eq leaving the time correction on.
One other thing to be aware of is if you have a sub get anything under 100Hz off the door speakers. It will do wonderful things for midrange clarity. The head seems to like to set the crossover for the sub around 80Hz or so. You'll win big in the clarity department if you move it up around 100-125, and check the phasing on the sub when you're done because the head will get that wrong a good part of the time too. With the MC20 is often will decide to leave the HPF off with the door speakers, especially in the front -- that's a bad idea in general. If you move the crossover frequency up you will probably need to also dial the sub's output down another db or two, but that's a matter of individual preference.
Enjoy.