Boxers, briefs, bras, panties, corsets, garters, stockings, socks, and other forms of underwear. In more prudish times, these were known as "unmentionables". This also made them Forbidden Fruit, and thus the subject of numerous tropes. Needless to say, many of them are no longer literally unmentionable.
Heck, Queen Vicky loved to wear racy underwear under her dresses, which may or may not be where the name "Victoria's Secret" came from.
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