I lost my virginity to a woman who was only marginally more experienced than I was (she had had sex only one time before, and was drunk at the time). She was both my first partner and my first long-term girlfriend, which means, basically, we “learned about sex” with each other, over the course of a few months. We were both clumsy and didn’t really know what we were doing.
My second relationship was with a considerably more experienced woman, and the sex was way better. And I learned what I was doing, whereas before, it was just random animalistic groping; in hindsight I feel bad for my first girlfriend because I was really kind of a putz between the sheets. “Learning with each other,” in my opinion, is overrated.
If you find an experienced woman, and get into a serious emotional relationship, then confess: I’m very inexperienced. Can you show me the ropes? If she’s got a good heart, she will be overjoyed to hold your hand (and other bits) and lead you gently into the Promised Land. <sexist bullshit> Chicks love that shit. 
See, because this:
…concerns me. Insecurity’s a bitch, innit? But think about it: Nobody is born with the knowledge of how to have great sex. It must be learned. What’s more, every partner will be different, sometimes slightly, sometimes vastly. The advantage of learning from someone who knows what she’s doing is that you start to recognize the sheer variety of options — not to mention the reality that any given partner will enjoy only some of these options. Some women like to be spanked; some hate it. Some women like you to hum during cunnilingus because it makes the clitoris vibrate; some will tap you on the head and ask you what the hell you’re doing. Some women like sex hard and fast; some like it slow and soft; some like both or either depending on their mood. Some women like big dicks; some like small dicks; some don’t care. Some women like a quiet, closed room with music; some like the window open, the summer breeze blowing, and the city noise floating in. Some women like toys; some women want you to use only your hands and mouth and nothing else. Some women want to talk; some women want you to talk.
And you can’t know any of this until you’ve been with women who know what they want because they’ve been there. Lovemaking is a skill, and it is learned. In my opinion, men who prefer inexperienced partners usually (not always) feel inadequate about their own skills and don’t want the women to know what they’re missing. For my part, I much prefer a woman who knows what she likes and can tell me what she wants over a woman who doesn’t know what she likes and can’t help you. (Of course, that’s moot now, because I married one of the former. :D)
Look at it this way. Let’s say that all of us were required to perform brain surgery regularly. Would you feel insecure because you didn’t know what you were doing the first time, or would you feel better having someone standing next to you explaining the procedure?
See, there’s a bullshit masculine thing in the U.S. (and probably other countries, though I don’t know first-hand) that guys are supposed to be great in the sack from day one, and that women are supposed to display sweet, sensual gratitude for the male’s expertise. And it’s bullshit, pure and simple. It’s fucked up a lot of men, and it sounds like it’s got you fucked up, too. Get over it, please, for your own sake and for the sake of your future partners.
Repeat ten times, or for as long as it takes you to internalize it: Inexperience is not inadequacy.