I always had that problem and still kind of do but try and get a good bond with her or just sit down and while you and her are in a good mood ask.I remember my mum once calling me into her room and telling me I need a bra which was embarrassing for me and of course with out thinking I asked why and she told me I'm getting boobs. I then left the room and I was embarrassed for days!Then one day I went back to school shopping with her and then I just asked her there and then. She did embarrass me -.-Hopefully yours wont.Now I just collect money and go buy my own at lunch break when we can go into town, luckly my school isn't too far away from the store
All I did was I went up to my mum and said "mum can I please start wearing a bra because I feel uncomfortable and exposed" that's all I did and the next day we went shopping for some easy as that :)