And is there any way I can ground the equipment so I do not have to remember to touch something metal before I touch the equipment?
It's your equipment ground that is giving the static build-up on your body a better discharge path (than if it wasn't grounded).
I'm guessing that you have carpet or rugs (and low humidity?). Besides touching something else first to discharge, I'm not sure if there's much you can do other than installing a grounded conductive ESD mat in front of the equipment, which I can understand why you may not want to in a home setting because of the look.

I don't know if the zapping has a long term accumulative effect or not, but I did blow out the display on a beautiful HTPC case in my rack with a particularly potent static discharge.
Steve