i started dating at 16, which is pretty late, but not that much.
but don't have sex before you're ready, bud. trust me, that's a huge mistake. you won't be happy with it at all and it'll probably make you feel bad long after it's actually happened. and when i say "you're ready", i mean you're fully prepared for it, not just that you think it sounds fun. your first time should be with someone you trust and know well. you'll be a lot better off that way.
i wasn't /that/ late but the best way to do these things is to just put yourself out there. make a lot of friends and speak up often, and you'll find someone who's attracted to you eventually (or even pretty quickly, depending on how lucky you are). i learned a long time ago that the best way to have experiences in your life is to make friends and get out of your comfort zone every once in a while. a lot of people on the internet don't understand that.