Underwear definitions

ŭn'dər-wâr'
Clothing worn under one's outer clothes, usually next to the skin, as undershirts, undershorts, or slips.
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Clothes worn next to the skin, underneath outer clothing.
noun
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Underpants (boxers, briefs, panties, etc) and bras.
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Origin of underwear

From under- +"Ž wear. Compare Dutch ondergoed, German Unterwäsche, Swedish underkläder.