Hi!
Sooo many people think that having sex or dating girls is such a big thing but honestly don't over think it! You are not the only one although it probably feels like it, but you don't want to rush into anything or have a bad experience. Going on dating sites might be a good option for you considering you don't want to go to clubs or bars (although its' probably not the best environment to find a future gf anyway!). Try going on as many dates as possible just to give you experience in how to talk to girls and be confident around them. Even if you don't find anyone that you like by going on these dates, the experience and skills you would have gained will be useful and you can use them in other social settings
You seem like a very nice guy and lots of girls will actually find it very attractive that you haven't rushed into anything and they will respect you more for it. My last ex boyfriend was exactly like you and I really valued how much he respected himself to wait until he was with someone he really liked and I'm sure a lot of girls will agree with me/feel the same.
All the best xx