I wasn't all that embarrassed
When I was in the boy scouts there was a camp ground that was used by many different groups other than the scouts. There was another camp for girl scouts.
One day while I was skinny dipping with some of the other boys I saw out of the corner of my eyes some girls with binoculars looking at us.
I personally didn't care but I made a point of standing facing them.
I thought this only happened in movies like "Little Darlings".