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Underpants (usually of a female). Originally an Australian slang term, Americans are finally picking it up due to the word ‘panties’ being creepy AF.
“My undies are riding up my bum.”
Undies by HeeGee January 14, 2021
Related Words

Undie Rub 

When two people rub there privates together while wearing there underwear.
Chad : How bout you ride Chad's cock after work babe!
Kiersten : Sorry I'm on my period I would rather avoid the mess!
Chad : But I need to clean the pipes I guess i'll jack off tonight!
Kiersten : Hey how about A Undie Rub I know that would make you cum?
Chad : Sure i'll bring some extra underwear!
Undie Rub by SlopNChop March 24, 2017

Undid Iridium 

From the Halo Universe, the phrase "Undid Iridium", when spoken in front of a UNSC Artificial Intelligence, will override it, causing it to obey the commands of the person who recited the phrase.

In Spartan Ops Episode 7, you can see an example of this phrase in work, when Dr. Halsey uses it on A.I Rolland to break from her cell.
Halsey: Hidden things can be... useful.
Roland: Such as?
Halsey: Such as the phrase "Undid Iridium".
*Roland begins glitching as he attempts to repeat Undid*
Roland: UNSC AI override instructions active, Doctor Catherine Halsey (in calm, new voice).
Undid Iridium by MagmaticLizard January 28, 2013

Hundies for the undies

At the strip club, Dave put some hundies for the undies in that G string!

Untied States of America 

What happens when you depend solely on Microsoft Word's spelling and grammar check to fix your hastily written essay, but Word won't highlight Untied States of America, so your professor fails you instantly.
Why did you drop Dr. Sweet's class?" "Because he failed me." "Why did he fail you?!" "Because he brought me to the front of class, pointed to 'Untied States of America' in my paper, and asked me to point on a map where this country was." "Wow you're an idiot for not proofreading!

Undiefucking 

The act of dry humping in ones undies is called Undiefucking.
John found Audrey undiefucking another man in her fishnet undies.
Undiefucking by Nathan Eastan October 10, 2007