It was Heinlein who did it for me. As many have said, check out his "juveniles"
2 of the first I read were "Have Spacesuit, Will Travel", and "Space Cadet." I credit Heinlein as giving me my first push in the direction of libertarianism.
Have to warn you, at the time Heinlein wrote these, he was what I could call a "Right - Libertarian" in that he was all for self-reliance and individual responsibility, but he was also a bit nationalistic. Still, the trade off is well worth it IMHO.
I found the stories very compelling and full of adventure, and promote self-reliance. self-determination and competence.
-Kelvin