How can one honor their parents without feeling ashamed, especially if they are unaccustomed to such treatment?

We ask Allah to grant you success in showing dutifulness to your parents. We have previously explained the virtues of dutifulness and how to overcome shyness. We advise you to listen to Dr. Muhammad Ismail Al-Muqaddim's lectures on modesty, and to refer to the consultation section. There is no need to think about what others will say, as they will most likely be pleased with this new behavior, which brings more mercy, dutifulness, and compassion.