I'm afraid of being in a relationship because I always think that it won't work?

I'm 16 year old guy and I've never really dated. No clue why but I just haven't. I'm not ugly or stupid or any of that. Right now I want to be in a relationship because I know I'm getting older and that I just want to be with a girl that I will love. However, this thought is really scaring me. Before I even try getting close with a girl, I always think that it won't work because I'm afraid that I won't have enough time to be with her. I don't drive, and my dad seldom drives me around. I just don't know what to do. Any tips on how I can make it work?