Welcome to Psych Central, Shawn! I think we all have done things we should feel ashamed about. However, forgive yourself and if you believe in God, ask Him to forgive you.

Then, as the Skeezyks says, move on and don't go to prostitutes again. Find other ways to meet your sexual needs (masturbation, for one). And find a woman who you care about and see if she's into sex. But don't be a boor about it, though. (For example, "Hi, I'm Shawn. Want to have sex?" Too fast and a turn-off!)

And, yes, a therapist would be good for support.