Underwear

Underwear was clothing worn next to the skin and underneath other clothing.

In 1986, when Spock swam in the whale tank at the Sausalito Cetacean Institute to mind meld with George and Gracie, he swam in his underwear. 

In 2259 of the alternate reality, took a peek at  and saw her in her underwear when she was changing.

Li Nalas was remembered as having killed Gul Zarale, an infamous Cardassian military leader on Bajor, in single combat, but he had actually shot Zarale while he was unarmed and in his underwear. 

In 2371, B'Elanna Torres accidentally walked in on a crewman who was wearing only his underwear when the ship was experiencing spacial distortions caused by an energy field. 

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