in Verlegenheit bringen
A fun look at the meaning of "peinlich", how to say that you're embarrassed in German and some more words like shame or disgrace :).
peinlich, die Pein, der Schmerz, das Schmerzmittel, die Schande, bloßstellen, sich blamieren
The core idea of this root was:
laying, lying down
of course the verbs to lay and to lie belong here, but the root is also the origin of law, lair, ledger, allay and low. And of lager, which is essentially a German word that means storage.