Hang around, that is, to get some undies (8)
I believe the answer is:
lingerie
'some undies' is the definition.
(type of underwear)
'hang around that is' is the wordplay.
'hang around' becomes 'linger' (linger can mean to wait or hang around).
'that is' becomes 'ie' (abbreviation for id est, 'that is' in Latin).
'linger'+'ie'='LINGERIE'
'to get' is the link.
(Other definitions for lingerie that I've seen before include "Garments" , "Slinky undergarments" , "Women's underwear from France" , "CLOTHING" , "Women's flimsy underwear" .)