Hang around, that is, in ladies' underwear (6)
I believe the answer is:
linger
'hang around' is the definition.
(linger can mean to wait or hang around)
'in ladies' underwear' is the wordplay.
I cannot quite understand how this works, but
'in' is present in the answer.
This may be the basis of the clue (or it may be nonsense).
'that is' is the link.
Can you help me to learn more?
(Other definitions for linger that I've seen before include "Be slow to go" , "Procrastinate" , "Stay on as if reluctant to leave" , "Hang back awhile" , "Dally, stay on" .)