I am 36 years old, and have been doing martial arts since I was 10.  I love it to death.  To answer your question, it is never to late.  Granted you will not be that spring chicken that will just jump in with no problems, but if you truely want to do it you can.  In our school we have several people your age and older that have started out and they are loving it.  My favorite story is one student that we had, until he moved, was in mid 50's, blind in one eye and missing 3 fingers on his right hand.  He got in it and was an excellent student.  SO GO FOR IT. :)