I've been in speech therapy most of my life but only found good therapy that was helpful in my mid 20s. Online virtual therapy is the coming more common as well (though for initial therapist client relationships I still recommend in person if you have the option). That embarrassment is part of what gives the stutter it's power. Good therapy will help you overcome that, but I understand it's difficult at first. Taking steps to help yourself is nothing to be embarrassed about though.