Look at it this way:
You have more life experiences under your belt now, and can be a better role model, teacher, mentor and parent than anyone ever could as a twenty-something.
We had our first at age 33(me)/32(mom). She turned six on new year's eve. Our second is 3 1/2.
We agreed before getting married that neither of us wanted kids. Ever. We dated since college, and had 6yrs under our belt prior to marriage. Annika was born prior to our 10th anniv. Our priorities obviously had changed... Of course we were only going to have one. After our daughter started to get big, I came home one night to a discussion of "I think there's another little voice inside me somewhere." We started trying for the second time (all of which was much easier than the 1st time around), and were blessed with our little guy.
Prior to having kids:
Built two houses, traveled, achieved careers that are satisfying and challenging, and got started on an MBA. Finished the MBA a few days before our son was born.
We don't regret a thing, and have had one heck of a great time with both the kids. Our overall quality of life as parents of infants & toddlers wasn't what we were used to - but they're sure great now. After they both started "growing up" a little, the Porsche finally arrived.
Advice -
You have no idea what kids are like until you have your own. You don't know what you're missing yet!