How do I start “dating” without any experience?

I’ve (21M) always been pretty shy and have had low self-esteem / confidence. Now that I have moved into a new place I wish to improve on myself and also try to get into a relationship. But one problem is that I’ve never been in a relationship before (and also is a virgin). Therefore I’m afraid that I would come off as an “loser” if I were to flirt or try get into a relationship with a girl, considering I’m unexperienced and don’t know the right approach. Unlike me, most people around me have been in a relationship, and I don’t want to wait for “the right one” or someone else that haven’t been in a relationship.