"Don't mind it, you're high" and "Of course that happens, you're fucking high" are two pretty simple thoughts that I use to stop any incoming bad trip. Self consciousness is very important and being aware that you can hear, see or feel things that aren't there keeps you safe from sudden panic attack or bad trip. Not everyone is able to control your thoughts in such a manner, but once when you are, you can take psychedelic in any environment. Again, with preparation where're you going to be, what you want to do and what's the plan B.
Cheers

Another great post.