Musar к Авот 5:42

Our Sages said: "Anyone who does a transgression and is ashamed of his deed is forgiven for all his sins" (Berakoth 12b). And they said further, "He who has a sense of shame is destined for Paradise" (Aboth 5:42). And our Sages said, "Faith and a sense of shame are linked together, for the one who is ashamed before people shows that he believes in people. If he did not believe in the importance and worth of people he would not care for their opinion and therefore would not be ashamed before them." The wise man said, "If it brings you no shame do all that you desire."