No, it's never too late to turn to God. No matter who we are or what we've done, God still loves us, and He yearns to forgive us and welcome us into His family forever.
The problem is, if we keep refusing to come to Christ, then someday it will be too late. When that happens, we will only have ourselves to blame; we cannot blame God. We never know what a day will hold for us, and in an instant we may be called into eternity. This is why the Bible says, "I tell you, now is the time of God's favor, now is the day of salvation" (2 Corinthians 6:2). Don't let another day go by without Christ.
But the most important thing I can tell you is this: God loves you, and He doesn't want you to enter eternity without hope. He loves you so much that He sent His only Son into the world to die on the cross for your sins. Think of it: If you had been the only person on earth who needed to be saved, Christ still would have been willing to die for you. God loves you that much!
Don't let your guilt, or shame, or anything else keep you from Christ. Turn to Him for the forgiveness you need, and ask Him to come into your life and give you hope for the future. May the Bible's truth be your comfort: "If we live, we live to the Lord; and if we die, we die to the Lord. So, whether we live or die, we belong to the Lord" (Romans 14:8).