I've had a friend since 1st grade and we're still friends all these years, same with two friends I met in in 2nd and 4th grade. I've made very good friends in the past two years too, and I'm really close with most if not all of my friends, and I like to think they're close to me too. I'm sorry that you never had a friend, but there are plenty others who have friends and experience friendship every day. Obviously there have been a few friends I've fallen out with because we took different paths, but that just means we're too different/conflicting to have a real close friendship now.
Even my friends from elementary school are very different; the shy, timid girl is now probably the toughest and most headstrong person I know, the really hyper girl is now a lot more calm and serious, hell even I went from being really loud and annoying to a really geeky person who rambles too much. We're still best friends even though we've changed so much, and if that isn't friendship, heck I don't know what is.
You may not have experienced friendship yet, but just because you haven't experienced it yet doesn't mean you can't! Better late than never. Try talking to people, opening up a little bit, see if there are people with similar interests. That's the best way to get a conversation going; who knows, maybe someone who sits next to you in math/work/lunch/whatever is a best friend just waiting to happen! So maybe break the ice or something and ask what they're into. Show an interest, lend an ear. Trust me, whenever anyone asks 'what're you into' and I tell them, and then they say 'oh cool, what's it about' I am squeeing in the inside. I'm not good at socializing (tend to get off topic a lot) and somehow I managed to make friends, so if I can, anyone can!
tl;dr: just because you haven't experienced friendship doesn't mean others haven't. try making friends! talk to people with similar interests!