You know, I honestly came here expecting an OP about cleaning a woman’s clothes, not removing them.
That makes me feel very old, sad and married.
Thank you!
Really? I’ve never met a woman that could do that.
Not to say I can’t do it, I just can’t do it without employing 6 of the 7 basic yoga moves.
Speaking of women’s undergarments and sex – When of when can we finally dispense with underwires? I’ve come seriously close to poking an eye out on those things more times than I can remember.
Well, practicing every day for 20-some years helps. 
Grasp bottom flap (the one with the eyes) between thumb and forefinger, slide upper flap with hooks to the left with middle finger. Pull straps out through sleeves, breathe huge sigh of relief, pour large glass of wine, drink. Repeat the last two steps as necessary.
OK Kimstu. I was trying to make a little humor out of it.
I said I’m willing to learn. 
Attaboy Rigamarole! All you need is practice and patience. 
(Shunta bitched at you about it, but well, it’s the Pit.)
But first, a word about shop safety…
Master the rapid removal and throw the offending garment clear of the action at the first opportunity.
With anti-grav technology development trailing way behind demand, those wires still do some of us a lot of good.
Not all of us have had the opportunity.
That’s not a problem. Go to a lingerie shop, buy a bra that’ll fit around you. Put it on. Practice.
The sweetest words a woman can utter:
“I want to strip for you”
On the bright side, you should know how to remove them.
Regarding bras: They are not that difficult.
Pinch and slide. That’s all there is to it.
I haven’t had to remove a bra from a woman in 15 years: my wife wears 'em under her clothes when she’s out in public, but once inside, she’s got the damned boob-sling off within minutes.
But I really don’t recall bras being all that hard to remove, back during my single years. Front-closure bras were easy to unhook if her top was already off; rear-closure ones had the advantage that I could unhook them, without any hitch in the flow of things, while her top was still on. And it’s not like I’m particularly dextrous.
Laundry’s a whole 'nother thing. But my wife and I have a simple arrangement: I wash my clothes, she does hers, and we both pitch in with the sheets and towels.
Couple ways of dealing with this. Anything lacy and delicate, make sure she knows you’ll buy a replacement for anything damaged and then don’t worry about it. A little ripping of fabric adds to the passionionate atmosphere. Dropping the extra cash to get her an even nicer replacement gets you brownie points and encourages her to wear something less fragile for your next encounter which may end in a romp.
A little discreet scouting beforehand doesn’t hurt either. If the outfit has a tie or some elaborate wrap you should be prepared for that. Any exposed places should be taken advantage of in the early stages of foreplay and while doing so you can work on the trouble spots. Unless she’s turning up on your doorstep saying “take me now” you’ve probably spent some time with her in that outfit so you should have time to do some pre-planning and identification of possible trouble spots.
A sexy striptease is always an option too.
Enjoy,
Steven
tdn, how many women have you met? Three?
I can get my bra off one-handed without turning it around, too. It’s even trickier now that my boobs are the side of small watermelons and I have to wear super-bras with four different eye-and-hook fasteners(thanks to being knocked up). It’s pretty simple, though - grab the side of the bra strap that has the eyes, push it to be perpendicular to the side of the strap with the hooks, and push the hooks out of the eyes. Voila!
Ask girlfriend if you can borrow their bras and practice. I’m sure they won’t find it odd .
E.
I can take my bra off, one handed, out from under my top without having to remove any part of said top, in a crowded bar, after about 6 pints, and then use it to shoot beer nuts.
Don’t ask me how I know this.
Hopefully it’s a bit oversized for this task.
Depends what she’s shooting them with…
Phht. Yeah. Three.
HUNDRED.
An aside, but what was spur-of-the-moment sex like in the 1800’s like? how long did it take to remove a corset, multiple petticoats, bloomers, etc.? Must have really killed spontanaety! Going further back-take the time of casanova-removing cloths probably took all day!