Well, I certainly don't think it's shameful to need help; not professionally and not personally, either. Personally, I think therapy -- when a therapist is good and you have a good relationship with one -- is an incredible tool and and amazing support. When I can access and afford therapy, I am in therapy, myself. When I can't do one or both, I certainly feel less supported and have a harder time of things, even when my life is going well.
(I'm not sure what you mean by being forced into therapy: unless it's been court-mandated for you, that shouldn't be something that is happening. I'm not a proponent of forced therapy of any kind.)
A therapist or counselor is just someone to help us out in ways and places we're stuck, that's all. They're not there to fix us because we're broken. They're not someone we have to see because something must be wrong with us. They're just an extra, highly qualified source of help. They're also someone who is JUST there to help us, who we can talk to without feeling any sense of obligation, and who also won't have the biases or conflicts someone in our personal lives would. And if and when we are drowning in our lives in any way, as you've expressed pretty clearly you are, they are a really valuable and vital lifeline, IMHO.
But you also get to feel however you feel about it, and by all means, it's okay to have whatever feelings you have, including being scared. I hope that if you go into therapy, you'll start out by sharing those feelings so you can sort them out some with your therapist before you do anything else, or at least see what they have to say about them so you can figure out if that therapist is a good fit for you.
Never doubt that a small group of thoughtful, committed citizens can change the world. Indeed, it is the only thing that ever has. - Margaret Mead