Well then, that is what you need to work on. Don't obsess over your lack of experience, and don't go into dating expecting sex or a life-changing relationship. Take things one at a time -- make your first goal just to go on a date. Find a girl that seems nice, and ask her out. If it would make you feel more relaxed, start small -- ask someone out for coffee. If you want to go bigger, ask her out to a movie. Don't expect more than an outing and some conversation, and don't put pressure on either yourself or her for more. Concentrate on just having fun.
You have to start somewhere, and you are going to be turned down by some girls, no doubt about it. EVERYONE gets turned down sometimes. Don't take it personally, just try again. You can do this!