First time trying to pay tax

Hello everyone,

I have never filed (or paid) Income Tax since 2012 when I first joined a job; my first pay was Rs.22,000 per month take home in 2012. Though I am not a defaulter-intent person, I never did it because, may be, I was not educate to do so nor did any company I worked with pushed me to do the same. My current pay is Rs.41,000 take home. My current company (which is the 4th one) recently asked me to file income tax, submit Form-16, but I was negligent and as my previous company never asked me ti file income Tax I did not have Form-16 to submit, hence I missed paying tax again. I AM VERY WORRIED. I want to pay Tax. Please guide me what should I do next. 

Thanks In Advance.