Nope never learned! I almost drowned when I was four when I got stuck under a dock, one of my first memories, and ever since, whenever I am in water I just lock up and sink like a stone. I have had a lot of people try to teach me including my buddy who does triathalons but nothing as ever worked. If I ever have kids, however, I will need to learn as my girlfriend can't swim either. 😅
My mother had a similar experience and is afraid of the water now. There's no rush, just take it slow and get comfortable in the water first!