Okay man, you are at a great point to start lifting some weights and getting stronger while looking better.
You have a relatively low body-fat percentage, which is great. However, you also have a significant lack of muscles.
The only way you will get "toned" is if you gain muscle, so that muscle protrudes out of your skin, giving you a "toned" look.
You will not able to look toned without increasing the size of your muscle, having that said, don't worry about looking bulky or becoming bulky.
Every single person on this website(besides you), wants to become bulky, and it takes 8 years to become bulky.
The only way to increase the size of your muscle is to add resistance progressively(consistently, each week). A gym is a great place for that. I recommend you find 6-8 exercises that you would like to improve on, look at at least 2-3 videos on each exercise, then do a trial at a gym for 1 month. Take exact note of what weight and repetitions you could complete on your first day of the gym, and then take note of what those numbers look at 30 days later.
I guarantee you will be excited and impressed with yourself.