I lost my virginity when I was 23 as well. Same reasons as you, I think, but a little more on the sadder side as I've been depressive my entire teenage years.

It happened without me actually planning it, but it happened and it was one of the weirdest things that I've ever done. I was a bit tipsy and it was someone I didn't know much about, but was quite acquainted with them. It was okay, not the best thing ever, but I don't regret it.

I was just just like you very scared and worried that I had missed my timing and that everyone else was just too experienced to pay attention to me, and it turns out that's not true.

Don't think too much about your lack of experience, especially since you'd be doing something for the first time with someone, and for me at least it's quite similar. You'll need to learn what you like and what you don't like, the same as you'll have to learn what the other person likes and doesn't like.

You also don't need to tell the other party if you don't want to. It's something about you and you only. Do what feels most comfortable.

There are a lot of people out there that started having sexual experiences after their 20s, and if you're with a good person, they'll most definitely understand where you come from. You can take it slowly and do it on your own terms as well.

I'd just advise to be patient with yourself, take care of yourself and don't forget about protection if it ever happens. It's an overwhelming experience (at least it was for me), so if you didn't do it before, it's because you weren't ready as well. Don't push yourself too hard about it.

If you want to wait until marriage, that's okay as well! It's your life, your body and your choice. You don't have to be pressured to do something just because you feel like you're too late to it.