I think I need a handicap parking but I don't know how to go about it and would sorta feel stupid?

In December 2014 I had a disc slide into my spinal cord and sciatic nerve and with the ct learned I had a few herniated and swollen discs in my lower back. From time to time they get sore and swell up and at times it's even hard to move my legs to be able to walk so when I go to the store it makes it very difficult to get around or even to get up the stairs to my apartment is hard work because I have to pull myself up with my arms mostly. I hate hate hate having to go in the stores and use those little carts to get around because I'm 27 so young and you can't physically see anything wrong with me but it's gets so hard to walk so I can't help it. I would only use it when I'm having a hard time as sometimes walking will help it to loosen up and feel better but those times I can't get around I need some extra help.
I think I need a handicap parking but I don't know how to go about it and would sorta feel stupid?
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