The summer when I was 5, my brother (an excellent competitive swimmer in his youth) brought me to a pool and we played a game called "jump and I'll try to catch you" and in the course of a couple hours of him moving to deeper and deeper water and farther away from the edge I basically figured out how to doggy paddle to him. By the end of that summer my brother had me fetching coins from the bottom of a 3 meter pool from a steady tread.
Only then did he start to teach me any formal strokes, but to be honest, because of how he taught me, I think of swimming as a perfectly natural activity like walking, where I decide where to go and at what depth and my body simply figures out how to get there. Specific strokes and techniques don't really play much part.
To this day, I love swimming.