I don’t own any beige bras. The point of them is to blend with your skintone, right? Beige would be more of a contrast with my skin than white, so I stick with white.
I don’t put too much thought into underwear selection. There are certain tops that require seamless bras, but other than that… If it’s not the week to pull out grundies, any clean pair of undies will probably do.
When not in a relationship: If I’m wearing a dress or shirt that’s prone to slide off my shoulders, I go for the beige bra or the bra that most closely matches the shirt. If I have to wear a white or not-as-opaque-as-I’d-like shirt, again, the beige bra. Otherwise, it’s whatever is clean.
When dating: I try to avoid the really boring bras if there’s a chance of shirtlessness. So, no plain white bra, no beige bra, and usually not the yellow bra either because it’s of the material that looks grubby even fresh out of the washing machine. If it’s a really special occasion, I make sure to wear one of the nicer lacy bras.
Underpants only come in to the equation if I’m wearing a skirt or dress without leggings, going out shopping for swimsuits/trousers/skirts, or entering into an agricultural activity that ends with me stripping off all my outerwear on the back porch so I don’t get manure or grain dust in the house. Then, it’s what’s clean, but usually just boring white Hanes stuff. If I’m feeling super awesome, I might upgrade that to absurdly pink panties.
No. All my undies are the same color, so i take whatever is on top of the stack.
Same for my two bras.
Step #1: Check the boxers I wore yesterday that are next to my bed in the morning, if dirty throw in laundry basket. If clean, throw them on again.
Step #2: If unclean, grab the pair of boxers on the top of my dresser drawer.
Step #3: PROFIT!!! (South Park Gnomes)
I def have a system! If Im working I’ll wear my not so attractive underwear and if Im not Ill choose someting nicer and that matching the colours of what Im wearing. If I think Im going to get lucky I’ll select my extra special sexy undies. Oh also if I’m feeling a little down I choose one of my favourite hello kitty pairs of pants. Who would have thought such thought would have gone into underwear selection!
My choice in skivies largely depends on whether I’m:
a) hoping to get lucky with my husband when our son goes to bed;
b) not planning on working out that day;
c) wearing something that requires other-than-white-cotton undies (all my black undies are lace); and
d) tired from not getting any sleep the previous night thanks to a son who persists in frequent night waking, even though he’s more than two years old.
If I’m not planning on wearing nice undies, I’ll grab whatever’s clean and won’t show through my clothing. If I’m planning on wearing something nicer, my choice is based on what I’m wearing, how long said undies will likely stay on and what I feel like. It sounds complicated, but it really isn’t. Deciding what to put on my butt takes a few seconds maximum.
Edited to add: my bras are usually based on whatever’s clean/available. I hate seams showing through and, even though I’m only 32, I consider myself too old for really overt sexiness such as lace bras showing through, slits in my skirts, etc. (inappropriate to begin with in the workplace anyway), so I don’t generally wear lace on top. Plus, I’ve got a pretty big rack - hard to find a sexy bra that doesn’t look like two pontoons with lace on 'em.
Since I’ve been losing weight, I’ve found that my bras don’t fit as well as they used to. Today I went for a professional fitting at the local lingerie heaven and now I have three new bras in a completely different size. All black, all lacy. The girls are looking quite happy now.
This post is pointless without pics.
Pics are required so we can all look happy
Wow, I think I am all alone here… All my underwear is beautiful and I can’t leave the house unless my knickers and bra are matching.
I buy two pairs of knickers to go with every bra and try and get them in a different style, e.g.: one tanga and one lady-boxer etc. That way I wear them with trousers or skirts.
It’s all goregous I tell you.
Over the top I wear any old clothes, mostly cast offs from friends and family, but underneath I am dressed to kill, and it’s my little secret. Well mine and hubby’s…
Other than that the most important thing for me is that it should look like you aren’t wearing underwear. VPL (visible pantie line) is a serious crime and your bra shouldn’t give you back-boobs OR double up your boobs at the front either.
No dark underwear under light clothes. Not ever!
Everyday: matching top and bottom, and whether bright, light, dark, colourful, patterend or plain: always beautiful… Damn I LOVE my underwear!!
Well, yeah, you would wear whatever blends in best. It’s not the color as much as its being invisible through your clothes.
Thanks to Victoria’s Secret, I could have green, blue, fuschia, or even polka-dot skin and still be able to get “skin-tone” bras. 
I’m with you.
I consider my underwear *part * of my outfit, so when I decide what I’m going to wear that day, I pick out my underwear based on what color, shape, and texture will complement it. And while it’s not meant to be seen by the general population, I never assume that it will remain unseen all day. I don’t know how my day might go, so all my undies are ready for showtime.
I have a few pairs of “that time of the month” panties, but they’re still cute. Hell, maybe even cuter, since that time of the month means they’re not coming off.
Beige comes in different shades. And you’d be surprised - I’m very pale in skintone, but white bras scream “BRA!” under a white shirt on me, but light beige bras do not.
I think mine are pretty, even though I buy very similar undies; I bought for ease of dressing and for looks. The bras are plain but smooth and underwired, and the panties might be lacy or silky but they all fit smoothly under my slacks and don’t peep out even a lower waist. And I don’t pick specifically based on the chance of getting some with my husband because I never assume there’s a reduced chance of that happening. 
I don’t really pick out underwear beyond the “thong/no thong”, “sexy-fancy/everyday” and “period/no period” panties varieties. I don’t have any pants that show my underwear through them, I’m not particularly picky, and my SO doesn’t really care what my panties look like as long as they come off when it’s sexy time. I don’t care much about the top half and bottom half matching, and didn’t spend much time with that when I did, but I’m sure if I had the extra money to make frivolous purchases, I’d probably make sure that all my bras and panties were fairly coordinated. The last time I did this, I was in high school and almost everything was black with the handful of bras and panties that were matching cotton. I might eventually go back to this if I feel like it; I am just not super fond of beige panties.