Hanging about in short undies no good (9)
I believe the answer is:
lingering
'hanging about' is the definition.
'short undies no good' is the wordplay.
'short' means to remove the last letter.
'undies' becomes 'lingerie' (type of underwear).
'no' becomes 'n' (common abbreviation).
'good' becomes 'g' (abbreviation).
'lingerie' with its last letter removed is 'lingeri'.
'lingeri'+'n'+'g'='LINGERING'
'in' is the link.
(Other definitions for lingering that I've seen before include "Hanging back, tarrying" , "Being slow to leave" , "Remaining" , "Reluctant to leave" , "Being reluctant to part with" .)