I don't know how to start dating?

I actually met a 20 year old virgin and he had the same problems you had, low self esteem for years and then when he was finally ready to date he realized he knew nothing about women. I found his innocence refreshing and sweet. I didn't have to teach him anything we just talked like 2 normal people and got to know each other. If you meet a girl don't tell her about why you've been single and inexperienced for so long it'll just make her pity you and not date you. Find something positive to say about yourself to a girl. Good luck.