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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

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

Hundies for the undies

Hundred dollar bills stuffed in yo panties
At the strip club, Dave put some hundies for the undies in that G string!

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
The undercover law enforcement
Guy 1: who's that creeping
Guy 2: its the undies bro hide the loud
undies by Youngtadoe May 30, 2016

Last Chance Undies 

Your last pair of clean underwear, reminding you that this is your last chance to wear any unless you get your laundry done; that pair of ugly old underwear that you reserve for an emergency.
Dude, I gotta do laundry today, I've got my last chance undies on!
Word of the Day on July 20, 2011