Singles&Dating: I think I wasted my life?

I am 17 years old I have never had a relationship. Over the last couple of years some girls have fallen for me and developed a crush on me, but I've never ever had the courage to ask a girl out, or even compliment a girl face to face. I feel like a complete loser, because I know i lost chances. Its just that i have been completely over taken by my fear of rejection and low self esteem and confidence.99% of my friends have had a relationship in there lives most of them have had over 10+ girls in there lives compared to them I am a complete failure. Im starting to believe that my life is over because I have wasted 17 complete years. I would like to change this more then anything, but I don't know where to begin. I go College but there's hardly any girls there because its small place. High school is long over. And I really don't know where to begin, I just wanted some advice? I also wanted to ask that if you compliment a girl do they hate that will they find it weird or creepy???