Can I still look into learning karate even though I'm an adult?

I'm 20 and I always wanted to learn Karate or even Tae Kwon Do because I figured it was one of the best ways to defend yourself, when I was a kid I weren't fortunate enough to go to cles but now that I'm on my own I'm still interested in learning it but from what I see people that are my age already learned it at a young age basically what I'm saying is can I still pursue in learning one of these martial arts?