There's never a "late" time to learn. As others have suggested, take the MSF course, that's the ultimate learning experience. You can quickly learn things about riding from that course, I've taken it several times, and every time I learn something new.
Learning to ride a motorcycle is an exponential learning curve. You are always learning something at every point, sure in the beginning you will be learning the most, but you will always
be learning something new when you ride. I ultimately started there in hopes to see if riding was for me, and I absolutely loved it and am where I am today because of it. It's an awesome way to start your riding career off, you meet awesome people who share the same passion, and share the same dream of riding. You quickly learn of how awesome the riding community is.
The MSF courses also offer more basic/intermediate/advanced riding classes down the road, so after the basics, you can continue to learn more, and hey if riding is not your thing, no shame, at least you took the class and tried it out.
Course if you do love riding, remember, Triumphs are best