I'm nearly 24 and a virgin.
I agree with Bats. Losing your virginity because you think you should is probably one of the worst ways to do it. As Bats said, if you think you might regret it, you probably will. You only get to lose your virginity once and even if you have sex regularly for the rest of your life, you'll probably always remember this time because it was your first. It should never be rushed.
You don't necessarily have to wait for the "perfect moment with the perfect person" like you can only lose your virginity to your one true love- but you may find, with confidence and a little more age, that there is a better time to do this when you aren't so concerned and afraid. When you are more emotionally ready to take this step.