As others have indicated, it may be the lack of music around you while growing up that has led to the problems you describe. There is a neurological condition called "amusia" where people really don't have a clue about either the perception of, or production of, music, and sadly, not much can be done about this.
However, it sounds as if you are OK on the sensory side, and it's just the production of music from your voice (or legs, as in dancing) that gives you problems, Your relative youth is hugely on your side, and it's probably nowhere near too late to get things going, with the right support, and not putting yourself too much under stress of trying to perform too soon. Do keep at it, and hopefully it will come with time and practice.