hiya
i know exactly where you are coming from as i can't be around people without getting too nervous i end up leaving.
are you seeing anybody about this?
are you on any meds?
if not, then maybe you should see about it

could it not be that you aren't ashamed of your parents - but you feel as though they don't protect you?
i am sorry that you have been bullied during your school years! have you spoken to your parents about how much of a hard time you had?

here is something that you could maybe focus on next time you are faced with what worries you:

In order to reduce self-focus, pay attention to what is happening around you, rather than monitoring yourself or focusing on symptoms of anxiety in your body:

Look at other people and the surroundings.

Really listen to what is being said (not to your own negative thoughts).

Don't take all the responsibility for keeping conversations going—silence is okay, other people will contribute.