Am I late

So I'm in high school and ive only had one boyfriend and I had only kissed him once and it was like a peck so I feel really in experienced and out of place sometimes because a lot of girls at my school talk abt how they have had sex and talk abt sneaking out and smoking weed and stuff so Idk should I have done more stuff or should I try stuff I'm just scared bc my parents keep a close eye on me and I get a lot of anxiety when I do stuff I'm not suppose to and ugh idk. Advice?