I was a male virgin until I was 27 and must have spent close to 15 years wanting to not be. (A lot of what follows is really targeted at a male audience, I do apologise for that bias)
It's hard to see from the point of view of a bit more experience now what the problem even was. Strictly speaking, the only truly regrettable thing was my depression and anxiety surrounding it ... There's been nothing ultimately all that wrong with leaving those experiences for later in life.
You can't objectively say that that's a worse thing, it just is what it is. I evidently didn't want such a messy life, and so it's not what I had ... I've hurt/delighted fewer people and been hurt/delighted less in turn.
However I would go back and change it if I could, because there's no way round the fact that I missed out in life, and will never not feel it, honestly ... But that is a personal thing.
In my case I was just so stuck in my own fragile ego and pride that I couldn't be vulnerable enough to make a play for someone's attention.
I lacked a few social resources I suppose. I'd strongly encourage anyone in their twenties and in a similar situation to do something radical about it (eg if it's bothering you but you don't know what you can do about it).
Kill your darlings, basically. Pack your consoles and other comforts into storage for a while, take your life on your back and hit the world. I'd most recommend finding some live-in working placements, eg support work in a community setting. Just Google for an afternoon and you'll find dozens of places offering opportunities you've never heard or thought about before. You'll grow a thousand fold as a person, and you'll also place yourself where there's a lot of young, eager, exciting people who don't know one another very well all trying to get along. Added bonus for the young straight men is that the gender ratio will probably also work in your favour. May sound creepy but it will help you to relax and just work on forming friendships.
Which, ultimately, is the ground from which sexual relations spring. I think I always made the mistake of failing to live up to an imagined ideal of how romance was transacted, and who with. Especially who with. Try to get popstars and film actresses out of your head and instead really see the person you're next to, and if you enjoy their company, try to answer honestly if part of you twinges at the thought of undressing them. If so then just find some dumb stupid dorky way of making it obvious. You need courage and confidence for that part, which is why growing a bit as a person first helps, and so does being in a relatively transitory environment ... It certainly should scare you which I estimate is where a lot of young men mistakenly draw the line ...
Good luck to you all and always love yourself