Actually I don't mind being embarrased in front of my family. I just cleaned my house because I felt a duty to do so.
Perhaps I'm a bit of a Kantian, but my philosophy of right and wrong is bit different. To me what makes people feel pain and suffering is wrong, and things that destroy people's liberty unreasonably is wrong as well. What's right is respect, and enhancing people's life. You might not agree with me, but hey that's my moral reasoning.
How do I come to those conclusions? I see that pain and suffering is not there to like, because the feelings are there to be avoided. Sure, I might not be feeling the pain, but the pain exists and that's not right. I am after all, a part of this universe, and my subjectivity is not the only thing that should matter. People are people, "like" me, and as far as reason goes, "like" things must be treated alike.
People do what they think is right but right is not subjective, there is only one right answer. Yeah, this will have some metaphysical complexion, but I do believe that "right" is something that "is".