Here's something that may help:

When I was at church last week, DS woke just as we were leaving and wanted a feed, so started to cry. An elderly couple going in for the next service just smiled at me and the gentleman said "isn't it wonderful to hear the sound of life?" I was so grateful to that couple as I was feeling bad that DS had to wait a few minutes for a feed and was making such a noise. It also helps that people tell me how good DS is in church when I know he's been complaining, snoring, burping and farting his way though - I think mothers are over-tuned in to their babies sometimes.

Anyway, just sharing this so when we start to snap out of embaressment, there's no one else bothered by our children as much as we are so it may help us stay calmer for longer.