This sentence of yours says it all: "...but I want to get control of my life...."
None of us "gets" control, we TAKE it! Life is a contact sport, and if your sitting in the stands watching it will pass you by.
I think the thing you have to understand is WHY you are "depending on others to basically help me live my life." In a nutshell, because it's easy. There's no risk to you.
Dr Phil says that people often do things for other than the apparent reasons. In your case, you're not happy, you're even embarrassed that you are 25 and so behind the curve of many young people your age. So why would you stay in this state of suspended animation?
Because you're getting a pay-off, and that pay-off is that it's easier and less frightening to stay the way you are than to get out there and possibly fail.
By what you said, you obviously have a support system in place, people that allow you to skate, correct? Maybe they nag you, or try to lay guilt trips on you, but in the end, they allow you to keep up the same sort of behavior. This is called "enabling." They have their own reasons, other than the apparent, for doing this. Don't worry about them, just realize that they care about you, but are misguided, OK?
Since they are unable to teach you how to be an adult, you will teach yourself. I've never heard that old saying "Good kids make bad adults," and now that I have, I think I can ascertain the meaning. I think it means that if you were a "good" kid, never acted out or did anything against the wishes of your parents, you may be ill-equipped to deal with the world as an adult, as you've never learned to trust your own judgment. In return for being a "good" kid, your parents never let you fail at anything?
Look I'm saying alot of things that may or may not pertain to you. Come back and let me know if any of this makes sense to you? I will leave you with one of my favorite quotes:
"The only time you can coast in life is when you're going downhill." -A. Roger Merrill