Deciding to have children is the biggest decision of your life. Your life is no longer your own, it belongs to your child. You have to be ready to put that child first instead of yourself. There is never a perfect time to have children. If you're waiting until you have the money, have done certain things, etc., that time will never come.
If you're ready to open yourself up to being completely devoted to the needs of your child, then you are ready. I didn't have my first until I was 32. Not because I wasn't ready until then, but because I had not met the right guy until then. I love my son with every part of my being and his needs and desires come before mine any day of the week.
My younger sister, on the other hand, married at 21 and by 24 was feeling the pull to have a child. Her friends were having them, I had my son, etc. However, she has never adjusted to "life is no longer about me". She loves her daughter, I know. But, I don't really think she was ready when she got pregnant.
The differences in she and I, I am the oldest, she's the youngest. We have a brother between us. She has always had someone to take care of her. She lived at home until she was married, commuted to college, and she had my brother and I to help take care of her as a child, etc. I, on the other hand, left home right after high school to attend college, I did move back for a year at 22. But, I was out and on my own, living my life. There are things that I didn't get to do that I wanted as a single girl. But, now some of the things I want to do I can take my son along and he can experience them with my husband and I. My greatest joy now will be seeing him experience those things with his parents.
Don't be afraid to take your child with you places. Our son went with us out to eat at 8 days old. We take him practically everywhere with us. There are some "adult only" times. But, 90% of the time the things we do he goes along with us. I must add, though, that our circle of friends includes some couples that have young children as well. Most of them bring their children along, too. Some have easier access to babysitters than we, such as grandparents that live here, etc. When we became parents we seemed to have made a shift that most of the things we do, kids are welcome. It wasn't intentionally, but it just happened.