I kind of felt the same way prior to losing my virginity but you'll be surprised how easy sex really is to do. You basically just go for it - there's no need for too much else, at first. That will come with time. And besides a lot of ladies just want the straight up sex anyway. Do you understand what I mean? Just let your sexual feelings guide your actions and set the self analysis aside.
That's really all I have to offer here. I got sick of being a virgin so downed some beers and went to the prostitutes at age 24. They really don't care who you are or how old you are. Nice people, though. I left feeling really quite happy within myself.
Ladies of the night.