Swimming wearing underwear (skivvies) as a substitute for swimsuits, usually done with friends at night. Often involving alcohol and trespassing.
I wanted to go skinny dipping with her but wasn't quite ready to reveal the full package yet, so I opted for skivvy dipping in my boxers.
I was really glad I had worn my matching bra and panties last night when someone suggested we go skivvy dipping in a random hotel pool.
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