Undergo shame surrounding us (7)
I believe the answer is:
sustain
'undergo' is the definition.
(I know that sustain is a type of experience)
'shame surrounding us' is the wordplay.
'shame' becomes 'stain' (I've seen this before).
'surrounding' indicates putting letters inside.
'stain' placed around 'us' is 'SUSTAIN'.
(Other definitions for sustain that I've seen before include "Nurish" , "Undergo" , "Maintain" , "Keep alive" , "Endure" .)