While someone there may be harrassing you and while I'm sure it causes you embarrassment and discomfort, there's no legal cause of action to sue here. You would have to sustain actual monetary damage as a result of what they did in order to sue for something like this.
For instance, if you were shopping with a business client who took his business elsewhere as a direct result of this incident, you could be compensated for your lost business and possibly something for your humiliation. Or if they kept you from leaving the store to investigate this and as a result you missed getting to a flight on time, you could likely recover for that too.
But you don't get to recover because someone embarrassed you, made you cry and made your family member cry. If we could go to court
over something like that, all of us would be very busy with bunches of open cases.
This doesn't mean that you have to roll over and tolerate this behavior. If you write a very strong letter to Kroger's central management office, give them the name of the store and the offensive clerk you could probably get her fired for behavior like this, and that would make her a lot more uncomfortable than she made you and solve your problem besides.
Let them know that you are a 10-year customer and that you don't feel you have to be subjected to abuse every time you walk into their store.