I'm still new to the 'retirement planning' game if I'm being honest; and, I'm most of the way there being that I've already completed 1 career and am on my 2nd and have only been putting money into a 401K for about a year now. But, one thing I've learned that helps make the 'impact' of saving for the future easier is to take a bit of each raise and push that into a retirement account (IRA, 401K, TSP, etc.). So, say you make $60k/yr and are saving $0/yr at the moment. After a few years, ideally you'll get a promotion and/or a raise to say $65k/yr. Take even 10% of that $5k/yr raise and put it into some growth account; you'll still see a raise, just slightly less. But, you'll also be saving for your future which is incredibly more important; and the longer it is invested before you use it, the more valuable it becomes later when you choose to use it. I know $500/yr doesn't sound like a lot, but if you keep doing this consistently, over the next 20yrs, you'll find that it will make a huge impact on your future planning. And, if your employer has any sort of investment matching (mine does 4% to my 401K), you want to make sure that you're putting at least that much in as it will maximize your gains (effectively doubling your money, your 4% becomes 8% without costing you anything extra).
I'm currently putting away 7.5% of my salary to a Roth-401K (so, it's paid in after I pay all my taxes but it will be tax-free when I go to use it), plus I get 4% from my company on top of that (so, net combined is 11.5% of my salary going into an investment portfolio). My personal goal is to be able to retire in about 20yrs and not have to change my personal lifestyle (effectively maintain the same net income without having to work). I still think I need to be putting more away to get to my goal, maybe closer to 12% or more on top of my 4% match.
Again, retirement planning is something even I am still learning (I didn't think about it too much while I was in the Navy) but really wish I had focused on it more when I was early in my career. In the end, it is never really too late to start, but the sooner you start, the better.