In my opinion you should be proud that you are a virgin, so many people give this away way too young, so I believe that is a wonderful thing.
You are human and I'm sure you desire companionship from another human being, but it can be hard to make that first move, maybe because we do fear rejection or because we feel less experienced, but believe me most women see that as a plus(unless they are just a downright skank)
When I was young, I was very shy towards the opposite sex, and a lot of people mistook this for me thinking I was "too good for them", when in fact I didn't know how to approach a man, I did learn eventually, although to this day I still have issues with talking to men.
You have nothing at all to be ashamed of, and I'm sure you have a lot to offer a female, you just don't feel like you do. People are staying with their parents a lot longer these days, so most people don't even see that as a bad thing.