Do you feel completely happy? If not, admit it out loud to yourself. That moment of truth will help. Viv Groskop talks to sociologist and life coach Martha Beck who argues that aligning with your truth will get rid of all your psychological suffering. They also discuss chronic public speaking nerves, how to train your animal brain as if it were a frightened horse - and what it's like to hang out with Oprah Winfrey and Elizabeth Gilbert.

Martha's new book, The Way of Integrity: Finding the Path to Your True Self is out now.

Viv's book, Lift As You Climb is too.

@vivgroskop