Officially Forgiving Myself

In order to let the past go, you must forgive yourself officially.
Feel the embarrassment or shame or guilt one final time. Really feel it throughout your body. Next, tell yourself that everyone makes mistakes and you know you that that outcome was not your intention. It was an accident. Finally, make the decision to forgive yourself and do it. It helps to even say it out loud.
From now on, it's OK. You are forgiven.
Every time the thought comes back, simply remind yourself that you have already been forgiven, so there's no reason to feel bad anymore. Then push the thought away.