Discard pants in order to get into mucky stuff (2,8)

I believe the answer is:

go commando

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'discard pants' is the definition.
I know nothing about this answer so I cannot tell whether this works.

'order to get into mucky stuff' is the wordplay.
'order' becomes 'command' (commanding is a kind of ordering).
'to get into' is an insertion indicator.
'mucky stuff' becomes 'goo' (slimy or mucky substance).
'command' placed within 'goo' is 'GO COMMANDO'.

'in' acts as a link.

Can you help me to learn more?

(Another definition for go commando that I've seen is " hang loose".)

I've seen this clue in The Guardian.

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