If you feel able to sort out your debt problems without one to one support try following the advice given on the Money Saving Expert website.
Debt counsellors use a variety of techniques. It could be simply negotiating with creditors to freeze your interest, you may be put onto a debt management plan where they negotiate with your creditors, you may be pointed toward an IVA (Individual Voluntary Arrangement), Debt Relief Order or even bankruptcy (it's not as scary as it sounds).
They will certainly show you how to prioritise the most important debts to enable you to keep food on the table and a roof over your head. They are not judgmental and talking to them may help you to sleep at night.
If you feel you need help, contact the Advice Centre or one of the free debt advice organisations.