This is a common problem when learning to plane, especially when using short planes like a #4, which don't have much sole ahead of the blade to register.
Definitely sharpen it, that's the biggest thing. The next thing is to set an appropriate shaving thickness...you can get away with a thicker shaving while planing edges, but you have to dial it back sometimes for faces. But if you aren't very sharp, then it will be difficult to engage in the cut because a dull edge likes to skip over the wood when set for a light shaving. So it comes back to sharpness.
With a freshly sharpened plane set for a light cut you should find this pretty easy, but as the plane dulls some in use you may start having trouble again. You can keep working with a few tricks-
Wax the sole- reduces friction and makes the plane easier to control.
Skew the plane a bit as you start the cut - reduces the sudden shock of the entire blade engaging at once, makes it easier to control.
Focus pressure on the front knob. As I start the cut basically all of the downward and forward pressure is coming from my left hand on the knob, and I am essentially pulling the plane into the cut by the knob.