My answer for you is exactly the same as it would be if you said you were 22 going on 23 - you have to take an honest look at where you are today, then take the next step based on that information.
At 42 it can be tempting to focus on retirement to "catch up" - but that doesn't do any good if you're burried in debt and paying huge interest rates on credit cards or payday loans (I don't know if you have those, just saying that as general advice).
So the first step is to evaluate your situation - write down all your debts with monthly payment and total debt owed. Do the same for other non-debt bills such as utilities or phone bills - write down the typical monthly amount. Then add in other living expenses like rent or mortgage, groceries, gas, etc, and before you know it you'll have a monthly budget. Review that budget and look for places to trim costs. Also consider getting a 2nd job if necessary.
The next step is a small emergency fund. You should have at least $1000, up to one month of living expenses in the bank in a savings account. This is not for purchases, this is to cover unforeseen emergency expenses without having to go into debt for every little thing that comes up.
Then pay aggressively on any debts. I like the "snowball" approach where you pick one and put every extra penny toward it until its paid, then apply that to the next debt and the next one. I don't care if you go highest interest to lowest, or smallest balance to biggest, they both work as long as you stick to the plan and do it - without taking on new debt along the way.
then when your debts are paid (or at least under control) finish funding the emergency fund with 3-6 months living expenses. I don't mind a mortgage or a modest car loan at this point, but credit cards should be paid in full every month or better yet - ditch the cards and use debit or cash.
Once you have that foundation in place, THEN you can start retirement savings. The first option you should always use is an employer sponsored 401k (or 403b if you have a government job). These usually come with at least a partial match on your contribution and its the best return you'll ever get on your money. Even a modest match of 25 cents on the dollar represents an instant 25% return on your investment. Always Invest enough to get the maximum possible matching funds.
If your employer doesn't offer a 401k, or doesn't have a match, or if you want to contribute more than the amount they match, then consider opening an IRA account with an independent investment broker. They can help you determine if a traditional or ROTH account is best for your situation. OR you could just contribute more to your 401k plan if there are decent investment choices.
The key factor in all this though is that you have to change your lifestyle to free up some monthly income and you have to set a strong financial foundation so you aren't going backwards every time life hits you with an unexpected expense.
I do recommend a book called "The total money makeover" by Dave Ramesy. His baby step plan walks you through setting up this foundation and getting started on retirement savings - basically what I've described above but his plan is a bit more extreme (and might work faster if you can stick to it exactly per his instructions).