Is it ok not to wear undies in public?

If there's something over it like pants. Not if there's nothing over it. And I don't know about skirts and dresses over it! Hope this helps

For MEN, there is nothing wrong with not wearing underwear as long as ones penis doesn't get caught or injured in the zipper, etc., and pee stains don't stain white pants.

For WOMEN, I see nothing wrong with not wearing undies as long as the woman's not having her period, or, as cited above, pee stains won't stain light colored pants or skirts.