B737 FLC HAD ALT UNDERSHOOT IN D10 CLASS E AIRSPACE.

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WE HAD A FULL FLT WITH 2 JUMP SEATERS FROM 2 OTHER AIRLINES IN THE COCKPIT. THE FO WAS FLYING AND IT WAS THE FIRST LEG THAT WE HAD EVER FLOWN TOGETHER. WE WERE FLYING AN '/A' EQUIPPED ACFT AND WERE ON AN EASTERLY HDG TO JOIN THE JEN 039 DEG RADIAL; DSNDING TO CROSS HIRST INTXN AT 11000 FT AT 250 KTS. BECAUSE WE WERE ANGLING IN TO JOIN THE RADIAL; WE NEVER HAD A GOOD WAY OF KNOWING OUR DISTANCE TO HIRST INTXN. I WAS SUBTLY LOOKING AT MY RMI TO ESTIMATE OUR DISTANCE WITH THE RMI NEEDLES AND FELT WE MIGHT BE ON THE HIGH SIDE; BUT IT WAS JUST A GUESS AND I HATED TO MENTION IT IN FRONT OF THE 2 JUMP SEATERS; ESPECIALLY SINCE THE FO AND I HAD JUST MET 3 HRS EARLIER. BY THE TIME WE TURNED TO JOIN THE RADIAL JUST A FEW MI BEFORE THE INTXN; I COULD SEE WE WERE HIGH. THE FO HAD THE SPD BRAKE OUT BUT TENDED TO BE SLOWING TOWARDS 250 KTS VERSUS MAKING THE ALT FIRST. THE ALT WAS PROBABLY 'DO-ABLE' IF WE HAD DUMPED THE NOSE ON DOWN TO MAKE IT. THIS IS PROBABLY WHY I DIDN'T CALL ATC TO ALERT THEM AS IN MY MIND IT WAS STILL 'DO-ABLE.' HOWEVER; WE DIDN'T 'DO IT' AND CROSSED HIRST INTXN AT 13000 FT AND 270 KTS WITHOUT EVER SAYING A WORD TO ANYONE. WHY DID THIS HAPPEN? BECAUSE I'M AN IDIOT FOR LETTING IT HAPPEN. IT HAPPENED TO BE BEFORE; MAKES ME MAD AND MORE ALERT FOR A COUPLE OF YRS AND THEN I LET IT HAPPEN AGAIN. OUTSIDE OF EMBARRASSMENT; THERE WERE; NOR HAVE THERE EVER BEEN ANY CONFLICTS. I ALSO THINK ATC SHOULD NOT PUT YOU IN THOSE ESTIMATING ANGLES AND DISTANCES SITS. IT'S NOT ANY PART OF ANY OF OUR TRAINING AND IT'S JUST A COMMON SENSE GUESS FOR ME.