can anybody suggest any coping mechanisms for long-term virginity/lack of intimacy?

I lost my virginity late (41), and haven't had any kind of intimacy/been good enough for another partner since before my 43rd birthday. I've probably ended up more than a little bit broken because of being a virgin for so long, and because of having little prospect of intimacy in my future. And so I ask the question in the title. And I'm a guy.