You just have to feel comfortable with yourself, that's all! If you feel insecure, try going to a nude beach a bit farther away from home if you are self-conscious about seeing someone you know. You will feel more secure as time goes on. Why deny yourself the comfort and freedom of being nude? You should feel more comfortable among other persons who are sans clothing. What is your image of perfect, or what would you change about yourself? Most likely, nothing! Go for it!
Just stare at yourself naked in front of a mirror for a few minutes a day. It will get better. I used to hate my body until I showed my dick to this girl and it made me feel better. Now I'm naked a lot
Really the best cure for this is to to go to a nude beach - you'll notice for one thing that hardly anyone has a "perfect" body and for another, that nobody cares that much. I doubt if your self-consciousness will last more than about 20 - 30 minutes.
Go to a quieter nude beach and if possible with a couple of friends, even if they remain clothed. Your self-consciousness won't last.
Try working yourself up to it. Be nake around a friend, then two friends. A jacuzzi is a great opener!
I guess the most effective way is to go to a common nude beach. You will encounter people with all shades of bodies and bodyparts and you will see that you have no reasons to feel embarressed. I think staying nude at home is a good start to become more poised and so a good preparation to go somewhere more public. Maybe you can start going to a beach somewhere where no one knows you. If you know someone who goes to nude beaches, probably it would be a good idea to ask if you can join. It's always easier to start not alone. Over the years i did introduce a number of friends to this cheap and healthy joy, and most of them were quite embarreassed at first. Good luck!