When first learning how to clip into SPD's a decade or more ago, I fell over at intersection a handful of times, including once right in front of these high school girls doing a bikini car wash. That bothered me a lot until I bought my first electric unicycle.

I then proceeded to crash, step off, or fall and roll at just about every intersection between my home and my work. It got so bad that I started finding pieces of foam padding from my unicycle during my commute. In total, it was probably a few dozen crashes at intersection and at least hundreds elsewhere. I even crashed in front of a little league baseball team, and got cheers and claps for that one (sharp manhole cover).

The human mind is adaptable; just keep doing the hardest thing and soon it'll be no problem. If you get embarrassed from a little thing like a tip over, then just do it a bunch of time.