Humility is not living in shame.
God called us to live a humble life:
Whoever would save his life will lose it, but whoever loses his life for my sake will save it. -- Luke 9:23-24
This is not to be confused with shameful life of regret of past mistakes.
When you were slaves of sin, you were free in regard to righteousness. But what fruit were you getting at that time from the things of which you are now ashamed? -- Romans 6:20-21 (ESV)
When we compare the English dictionary definitions:
Shame is an uncomfortable feeling of guilt or of being ashamed because of your own or someone else's bad behaviour -- Cambridge Dictionary
Humility is the feeling or attitude that you have no special importance that makes you better than others; lack of pride -- Cambridge Dictionary
In other words, humility does not mean to be shy. Humility is to voluntarily serve other even when you are entitled to be served.
Paul who was a renowned Jewish leader was reduced to a poor "Christian", being publicly ashamed, often imprisoned, beaten and slandered by people speaking poorly of him. But Paul says:
I am not ashamed of the gospel... -- Romans 1:16
Paul could have crawled into a hole and hide from society (in shame), but instead we read in the book of Acts that he went public in boldness at the cost of his own life (humility). He was humble enough to proclaim the gospel even if his actions displeased the people.
If your heavenly Father has adopted you to be his child:
See what kind of love the Father has given to us, that we should be called children of God; and so we are -- 1 John 3:1 (ESV)
... then it no longer matter what people's opinions are about your life. God will be your future, your help, your wisdom, your honour, your guide, your provider and your love.
Whoever believes on Him will not be put to shame. -- Romans 10:11 (NKJV)
Instead, Paul found his identity and pride in the work for God:
In Christ Jesus, then, I have reason to be proud of my work for God. For I will not venture to speak of anything except what Christ has accomplished through me to bring the Gentiles to obedience — by word and deed, by the power of signs and wonders, by the power of the Spirit of God — so that from Jerusalem and all the way around to Illyricum I have fulfilled the ministry of the gospel of Christ; and thus I make it my ambition to preach the gospel, not where Christ has already been named, lest I build on someone else’s foundation. -- Romans 15:17-20 (ESV)
Jesus had voluntarily washed his disciples feet when he was actually their "Lord and Teacher".
If I then, your Lord and Teacher, have washed your feet, you also ought to wash one another's feet. -- John 13:14 (ESV)