A walk without underwear is without doubt a special sensation and a new element of your freedom. Practice this only in the warm season!
Getting ready
Wear something that is comfortable to wear without underclothes. Keep the jeans in the closet, but the cotton dresses, skirts, or loose trousers will do just fine. Choose the length according to your boldness. Go for a soft fabric T-shirt if you have sensitive nipples and are not used to walking without a bra.
Scenario
There are options here. You can go out without underwear, or you can take it off somewhere in the process. For example, tell your partner to go into the bathroom, take off her panties, and when she comes back, slip them into your pocket. Walk around in public knowing that you are both not wearing underwear. Hug each other. You can get a little handsy. For example, place your partner’s hand under your skirt in a café under your desk while no one sees.
When you get home, make each other comfortable: take a shower together, put on your underwear. Aftercare is an important final step in any sexual interaction. You can discuss the experience. Was it comfortable to walk like this? Did you like this sort of exhibitionism? Do you want to repeat a walk without underwear or not? And other similar questions. You can add to it any usual practice of taking care of yourself and the partner: massage, delicious food, a pleasant film.