Can stress cause me to pee myself?

I’ve had this issue where I couldn’t hold in my urine sometimes but it would only be a tiny bit that would slip out but today at work after feeling really stressed I finished up my task and I moved on to a different one, I got the sudden urge to pee, I tried holding it in and I almost empty my bladder but didn’t thankfully I’m only 24 so I feel super embarrassed having these issues I’ve spoken about to one of my gynos but didn’t raise any concern just thought I was sitting to long on the toilet.