Retirement planning should begin prior to receiving your first paycheck. It appears you've missed that date.
Three authors from the Retirement Institutue at Boston College have written a book that all millenials should read entitled Falling Short. It explains how retirement funding has/will change and how retirement expectations wil have to change. One third of the book is devoted to the consequences of postponing retirement funding/savings and how much longer you will have to work to maintain your expected lifestyle the longer you wait to start, and what the effects will be.
Like other advisors have said, start as soon as possible. Even a small contribution to your 401k now can grow into a healthy sum over the years. There is a limit to how much you can contribute to a retirement plan each year, so the longer you wait the harder it is to catch up.
I would suggest that you start as soon as possible and stop avoiding it. Time in the market is incredibly powerful, so the earlier you start (even if it is relatively small amounts), generally speaking, the better off you will be in the long-run.
Start now. You simply can't make up for lost time...or at least it becomes very uncomfortable to do so.
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