underwear was God’s idea:

Exodus 28:40-42

40 “For Aaron’s sons you shall make tunics, and you shall make sashes for them. And you shall make hats for them, for glory and beauty. 41 So you shall put them on Aaron your brother and on his sons with him. You shall anoint them, consecrate them, and sanctify them, that they may minister to Me as priests. 42 And you shall make for them linen trousers to cover their nakedness; they shall reach from the waist to the thighs.

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