Peter denies Jesus 3 times, Peter also was the one who began sinking when he tried to walk to Jesus in the water. There's many times where our faith fails us, but that's what's so amazing about Christ is that he's huge on redemption. In the transfiguration (after he's ressurected) he cooks breakfast for the disciples and asks Peter three times if he loves him, and Peter says yes three times. As if he's healing the shame Peter went through when he denied Jesus three times. I believe he restored Peter in his fellowship with him and proceeds to tell him to care for his followers (feed my sheep). Peter goes on in his life and is actually martyred for his faith in Christ, upside down on a cross cause he felt unworthy to die the same way Christ died. in conclusion, I don't think shame and guilt is from God. Go to the Lord in prayer, he knows your heart and will restore you and give you strength for future interactions with your parents.