Of course there is no set age at which you should be experienced in sex and intimacy. To think that there should be is absolutely ludicrous!!! Everyone is different, and everyone experiences things at different times in their lives.
Some choose to save themselves for a special someone, or just to be chaste, while others are more inclined to explore as much as possible.
If we were all the same, doing things at the same rate we'd be no more than indistinct, identical grey blobs living out a meaningless predetermined life schedule.
Be thankful you are as unique as you are and can be in charge of your own individuality and can do things on your own time. Remember, your time will come someday, so don't sweat it so much!
And FYI, there is no such thing as this "normal". It's just some preconceived notion that people use to make themselves feel better. It doesn't even exist!