I know that it can be difficult even when you are a daughter, but the best way to approach it is a matter of fact way. Try not to look embarrassed yourself and ask her if she would do the same if it were the other way around. It gets easier each time, and I have always found humour to be helpful. I have said " well if I see anything I haven't seen before, I'll stand back and throw rocks at it." That usually gets a chuckle and breaks the ice. Thank you for being such a wonderful caring son. My son is a paramedic and I an emergency nurse, and one night we had several severe cases come in and every nurse in the department had her own critical patient. I had to insert a urethral catheter in a young comatose woman and it just happens that it was my son that brought her in. The paramedics were staying to help as much as they could so I grabbed him to help me with the catheter, which meant he had to hold her knees up and open while I put the catheter in. You can imagine that neither of us were very comfortable with this, but we both knew it needed to be done and maintained a high level of professionalism. We got it done, and I was proud that my son had handled it in such a calm way. I am sure your mother is very proud of you as well.
Paulette