Hello, can you help me?

Hello, I just found this site and this community and first of all I would like to say hi, it's nice to meet you.

I'm 26 years old and I never had a relationship, ever, I was always an introvert and, quite frankly, was never really interested in finding someone and no one has ever been interested in me.

But lately a coworker has started asking me out and I don't know how to answer. He is a good friend and a really nice guy, and when we go out in groups we have fun, but I never saw him in a romantic light before and I still don't really see us doing stuff as a couple. I am considering going out with him but I am aware that it is, mainly, because I feel inadequate for never having a relationship. Because I am afraid this is the only chance I'll get and i'll just waste it.

Then I feel horrible, because I don't think that is a reason for going out with someone. I don't know how to deal with these feelings, my mind keeps going round in circles and all I know is that I am scared.

Quite frankly I don't know what to do. My mind keeps going around in circles between my shame of never having a relantioship (even if it didn't work out) and that I feel horrible if go out with him and I just end up hurting him if am not able to develop feelings for him.