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Underwear was clothing worn next to the skin and underneath other clothing. Female underwear was sometimes known as lingerie.
Like other garments, underwear could be made to withstand a variety of conditions, including fire. In 2152, Trip Tucker rebuffed T'Pol's suggestions that he push the engines of Enterprise NX-01 to their limits by saying that his underwear was flame-retardant, but he wasn't going to light himself on fire to prove it. (ENT: "Cease Fire")