I had a teacher advise me to make a habit of occasionally seeking out embarrassment, to stay in the habit, and prevent being paralyzed by fear of embarrassment.
I've followed that advice for years, and it's like a super power.
I've done so much cool shit that a previous version of myself would have been afraid to try.
I don't even remember all the embarrassing stuff, even though there's plenty. The cool stuff is what sticks in my memory, even though I'm prone to remembering my mistakes.