1. To move clumsily or blindly.
2. To make a usually serious mistake, usually in public.
Synonyms include: blunder, boner, blooper, mistake, boo-boo, folly, faux-pas, etc.
I was walking down the street when I tripped and fell in front of a crowd. When i got up someone from the crowd said, "whoah, that guy really pulled a ZUHI there!".