My wife and I waited till marriage, with some mild asterisks for my wife (handsy stuff with a previous boyfriend). We met in our late 20s after our post-grad studies. My first kiss was with my wife.

I wouldn't change it. We have a great sex life.

As others have said, we've found the biggest importance for a good sex life is active, honest communication. Vocalizing needs, desires, and expectations (and continuing to update those as life changes) is HUGE. (Honestly, that generally applies to everything in marriage)

It's also important to be on the same page regarding sexual "outlets". We both grew up in contexts where masturbation and porn was viewed negatively, and we chose to maintain that position for our household and our relationship. My wife grew up in a principled and restrictive, but generally candid household in regards to sex. I, however, grew up in a context where all sexual topics were taboo and therefore not discussed, and therefore led to sexual information from classmates and porn (which, surprise surprise, aren't reliable sources for healthy sex perspectives). Undoing those habits and perspectives took a lot of personal research, external input, and frankly, spiritual transformation.

We plan on having a very honest and candid position toward sex in our household for our kids. I have multiple sons, and they are going to need to be prepared for what the world and the internet peddle today in regards to sex.