It's such a complex process... I don't think you can simply "let yourself" be ok with being attached. You start with letting yourself talk about attachment with your T, and with letting yourself feel the attachment without immediately pushing it away, and you let yourself feel both the attachment and the urge to fight it because the need for attachment feels embarrassing, and you let yourself talk about all those feelings in therapy. If your T is sensitive to attachment issues she will encourage you to talk about it and you will gradually feel less ashamed of those needs. At that point you can begin to "let yourself" be ok with being attached.
I know, it sounds easy in a few sentences, but you've obviously read some of my posts in Cat's thread so you know it's nowhere near as easy as it sounds! But talking about it with your T, even if it's just to say "I missed you and that embarrasses me" would be a huge step in the process.