Lots of people are having kids and getting married later and later now. So 20 really leaves you with plenty of time to do lots of exciting things. If you wanted to, you could spend the next 15-20 years travelling, and youd still have time to get married, have kids and carve out a career for yourself.
You dont have to do any of those things, and I'm not saying that's the right thing to do. But my point is, the possibilities are endless and you still have time to do whatever it is you want to achieve.
I'm suddenly aware whilst typing this on which forum this has been posted - so I dont know whether any of this is what you want. But theoretically as a 20 year old, you still could have plenty of time if you were happy to do so.
You've probably spent most of your life in education up until now, so whilst you say you've done nothing in your life, you're just getting into the stage where doors open, and where you actually have the freedom to do the things you want to do. You're just getting into the start of the 20 year window where people typically do the most interesting things in their life.
But having said all of that, getting older is something that a lot of people worry about, and what you are feeling is absolutely natural.