Re: so kind of embarassing...
It is a shame that putting on the condom is often an interruption to sex, and as such a distraction. Just like when working out how much tax you may have to pay next year, the penis gives up!
I would suggest that you practice on your own while masturbating, and get your technique so good and fast that you don't even get a chance to be distracted!
The new easy on condoms may help you, we have then in the UK under the Durex brand but I don't know about elsewhere.