To embrace failure is not to make failure feel better. Failure feels terrible and it should feel terrible. To embrace failure is to feel this terrible feeling. To soak this feeling in and do whatever it take to not feel it again. To use failure as a learning opportunity. When failure happens the important thing is to reflect on the failure and be curious as to why it happened and how you can avoid it next time.
Failure can be a motivator because it is so painful. The pain should not stop you from taking action the pain should motivate you to be more prepared. Failure can not be avoided but can be mitigated. The mitigation is your preparedness. How much did you practice? How much did you learn? How much effort did you put in?