Why were you embarrassed?
Where did this happen?
Is it sinful? Well, for something to be a sin you have to want to do it. Don’t you?
Our desire to reproduce is very strong for many people, it can be difficult to manage. So, learning to manage your desire for reproduction is difficult. I think it has been throughout history.
Historically, people managed their urge to reproduce by having sex. People married younger, died younger, had many wives and were encouraged to have sex. Today we are encouraged to have sex, by TV for example, we get married later and usually have 1 wife at a time. Don’t we dream of a relationship with a wife where we somehow have sex all the time? Those relationships are myths. But you can have a relationship where you have sex enough.
Will anybody argue that being happily married and having sex regularly with your spouse is the best way to go sexually? Seems to me that the best way to manage your sexual urges is to use them as God intended. That is pretty hard in our society, isn’t it? So, you work hard not to spill stuff, but how hard do you work to get married? If your married how hard do you work to please your spouse, make them happy, so you can have a good sex life?
Seems to me the way to solve this problem is to go with the plan that God made, get married, have sex. Otherwise you are swimming up a waterfall.