민망해요 · 민망했어요 · 민망한 (+noun)
embarrassing, awkward (to see or do); embarrassed
Example
사람들 앞에서 넘어져서 너무 민망했어요.
I fell in front of people, and it was so embarrassing.
Word parts
민 pity+망 dazed
Covers both your own embarrassment and secondhand embarrassment watching others.