The people that you would be going to talk to are professionals. They go to school for years and put it thousands of hours of hard work to learn how to help people.
You have nothing to be embarrassed about

Even if you are, a good therapist will go slow and earn trust. Its about whats best for you, they dont force anything. Just open up as much as you can one appointment at a time.
Sometimes you might have to meet with a few people to find one that you like and get a long with. Once you do find that therapist/counselor/psychologist things will only get better.
It will take time and hard work, but having a partner to take on life with is a tremendous resource. Thats what my therapist is. Shes like my second brain. She helps me analyze whats going through my head and offers a different, unbiased opinion. One day I wont need her, but for now I look forward to every meeting!
Go find someone tomorrow, dont debate it, dont sleep on it, just go.
PS. If you dont want to take medication you dont have to. They wont push it on you. It is not a necessary part of all therapy, but sometimes it may help for sudden attacks or those morning when its just too hard to get out of bed.
I wish you the best!