I feel like I missed out?

I am 24 and never had a boyfriend. I feel like i missed out on teen dating and making memories. I have no idea why i let no one in and i regret it now, i feel very depressed about it... i feel at 24 i should have had some experience. my first kiss and date was at 22, i just foreplayed with the guy nothing else. I grew up strict and believed anything my mom said and now i am angry at her for letting me think love was a bad thing. I am 24 now and never even had sex... i feel like my life is a joke... i can't get lost time back but i just wished i could... did i miss out? i feel ashamed for even dating now for having NO dating experience
I feel like I missed out?
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