There's almost no such thing as bad experience when it comes to performing or learning music. The more you play, the more you learn.
There is no specific time to start, so long as you are passionate and have the talent you can start right away.
Enrol to a nearby music class ans start taking lessons of the type of music which you wish to learn.
Also start taking part in competitions to get an on stage experience and get rid of stage fear.
Lastly keep practising and you will surely achieve what you want!