I am a college student, but for some reason, I never learned to dance, while ever since middle school, all of my classmates all knew. This cripples me socially when at a bar or club, as I only can make a fool of myself trying to dance. But none of these other kids, or the vast majority are not full time dancers. Where do they learn to dance for school/college dances, and bars/clubs? When do most kids learn it? Where can I pick it up now before its too late?

Its not too late at all!!! Dancing is not something that you can easily pick up. It actually takes some practice and time. If you want to learn some moves that will attract the opposite sex, then just watch what other people do and follow them in a way. Move your body to the music!!!
Anyone can do it : )