I am nearly 27 and still a virgin, I've never been in a relationship or on a date or, well, experienced anything with a guy. On top of having bad self esteem and self worth, I also have trust and abandonment issues with men that don't exactly help my case. I also want to wait for something important, I've seen far too many times women in my family being treated second best and used, and I want to know that I'm better than that. I have also thought about waiting until I'm married, but I don't forsee marriage happening in my future so who knows how long I will hold out! haha
It doesn't make you any lesser, for all you know this waiting could be leading up to something great. Being older you have the maturity to know right and wrong, and you'll have more chance of finding someone with the same values. I can't really offer advice to help you, other than that your friends are completely wrong and not to listen to that. But please don't think you are the only one who isn't as experienced as others.