You can't recover the lost time. It is gone forever. But it doesn't restrict your future. Do what any beginning doctoral student needs to do. Pay attention, work hard, take a lot of notes, talk to a lot of people, especially professors.
Find a good advisor who can give good and timely advice. Work with them to find a good problem to attack. Onward.
Looking back isn't going to get you anywhere.
And if there are lingering effects from the depression, keep in touch with a professional so that it doesn't become an issue again.
Edited to add: When it comes time to evaluate your tenure application you will, perhaps, be a bit older than the average candidate. But you will be judged by people older still and the most influential might be very much older for which your age at that time is completely irrelevant. You will be judged on what you have accomplished, not your age.