You should not be embarassed by what happened to you, and the way you coped with it.
Counseling sounds like a great idea.
There are a few places you can look. In your local phone book look under counseling, or mental health, and maybe a place like planned parenthood might even have some information as to where you can get the right type of counseling. Call your local hospital, most hospitals have referral lists. That is where I would look first. If you work or go to school most places have free counseling also.