Do it with confidence
How do I stand on the side of the canal talking to a camera while people walk past? The truth its, it does feel embarrassing. But, as Darren Hardy points out, it only takes 20 seconds of courage to do something.
Once I am in the flow, I feel fine. People walk past and nobody starts yelling "look at that strange man talking into the camera!" All I have to do is fake feeling confident for the first 20 seconds, and then it is replaced by the real confidence of showing myself I can do it.