I've been looking into Albert Ellis, one of the creators of cognitive behavioral therapy. He argued that shame and guilt are never positive, and suggested that people go ahead and do things that they normally might not, because of a fear of embarrassment.

One example was to ride a subway, and just shout out the stops. He never advocated breaking any laws, doing anything immoral, or hurting anyone, but he did challenge people to push their limits, and understand that there is no need for shame or guilt.

Ever tried it? I remember doing some embarrassing things when I was still in high school, just to prove I could... but, it's been a long time.

I do somethings think about the times I did feel embarrassed, and give myself a little talk, just to remind myself that I didn't do anything that I should be ashamed of, or have any reason to feel guilty.

There is a lot of Ellis material on youtube.