Usage patterns
〈肌着〉を着るto put on underwear
Since it was cold, I put on thick thermal underwear.
〈肌着〉を脱ぐto take off underwear
I was sweaty, so I took off my undershirt and changed.
〈肌着〉姿で〈動詞〉to do something while dressed only in underclothes
He was wandering around the living room in just his undershirt.