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This doesn't always help, but what I try to do is remember what I was thinking when I saw someone embarrass themselves if it was noteworthy enough that I still remember it. I'm usually empathetic or sympathetic rather than contemptuous, and I usually don't think they're an idiot or that there's anything wrong with them. The few times I do feel contemptuous is when they fucked around and found out doing something stupid or shitty, but if it's just an accident or something that could happen to anyone, I'm not laughing at them, I'm understanding.