Do any of you lady get alittle embarrassed shopping for a bra with your SO or by yourself in a store?

Kitkat • 24. married since 5/03/14. No kids for me but my hubby wants kids
I go bra shopping at the store for a bra but it is a little embarrassing to walk around with it in the store. I was wondering if other lady's out there get the same feeling as I do. (No rude comments please) I am sorta new to GLOW still