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How to learn to laugh at your mistakes
Start by laughing at something from the past.
If the embarrassment and frustration of a recent mistake are too fresh on your mind, you might find it easier to laugh about a mistake you made in the past. Having some time that's passed between that event and your present state of mind could ease some of the tension you feel about making mistakes.
Think about a time in the past when you said or did something embarrassing. Step outside yourself for a moment and imagine how silly it might have looked or sounded to an outside observer.