The Lord God fashioned into a woman the rib which He had taken from the man, and brought her to the man. The man said, “This is now bone of my bones, And flesh of my flesh; She shall be called Woman, Because she was taken out of Man.” For this reason a man shall leave his father and his mother, and be joined to his wife; and they shall become one flesh. And the man and his wife were both naked and were not ashamed. (Genesis 2:22-25) Read the whole chapter here.
When you live within the boundaries that God has placed for you, there won't be shame.
Adam and Eve began on a perfect planet, in the perfect garden, with perfect food, and a perfect life. Verse 25 highlights something we may dismiss if we read this passage too quickly.
They were not ashamed.
Shame comes when you leave God out of the picture and run out of the boundaries He has so lovingly put into place.
God has given each Believer a fresh start, a new beginning. You will never be perfect, but God longs for us to rest in his grace and forgiveness apart from shame. When we rest in the grace that God gives, the forgiveness that He shows, and the boundaries that He has created, there is no place for shame.
You and I can be like the first man and woman all over again because of Jesus: without shame.