“For both the Sanctifier and the sanctified are all of one, for which reason He is not ashamed to call them brethren, saying, ‘I will declare Your name to my brethren; In the midst of the assembly I will sing praise to You,’ and again, ‘I will trust in Him,’ and again, ‘Here am I, and the children whom God has given Me!’ (Hebrews 2:11-13)
I’d encourage you to keep reading through the end of the chapter. The context here is Jesus’ present ministry as our High Priest before the Father.
His present ministry.
It doesn’t say He was not ashamed to die for you. It does not say that He will not be ashamed of you when you’re resurrected. It says He is not ashamed to call you His brother or sister right now.
Let that sink in: Jesus, now, is not ashamed of you, now.
When you are weak, when you ask for help, when you should but you don’t, when you sin–Jesus is not ashamed to be your brother. He is not ashamed to admit it loudly in the throne room of heaven, in front of the Father, the angels, the saints who’ve gone before us, even in front of the accuser who stands before God day and night pointing out every sin and mistake you make. He’s not embarrassed by you.
So don’t be embarrassed to ask Him for help.
Full Contact Christianity 
Hallelujah! I’m so glad He isn’t ashamed to call me brother
Dear Brother! The Lord surely knew how much I needed this right now! God bless you!