Forgiving Yourself

So, I've been realizing lately that I really need to learn to forgive myself and move on. I am so hard on myself. For example, I was supposed to meet Manda tonight in a shopping center so we could go to dinner. Well, I got lost like 4 different times (I completely suck with directions!) and ended up pulling into a gas station where she came and got me. I was sooo mad at myself...mentally beating myself up over and over again and trying my hardest not to cry. Manda wasn't mad at me...she just said I suck with directions which is true. However, she does not know how badly I was kicking myself over it. It shouldn't even be that big of a deal. So I got lost and took forever. Big deal. It happens. Drop it and move on. I need to learn this. People will forgive me and instantly drop little things like that while I'll just completely tear myself up. It's not healthy because I do it to a point of telling myself I'm stupid and worthless which just isn't true and I know this, but sometimes I just go back into those same thought patterns I used to struggle with when I get mad at myself. I'll even remember something that I did or that happened in the past and beat myself up about it all over again. It's something I really need to work on...just not being so hard on myself. Does anybody else struggle with this?