The Bible itself describes the breeches of the Levites,
Exodus 28:42
And thou shalt make them linen breeches to cover their nakedness; from the loins even unto the thighs they shall reach:
They covered the crotch and thighs. They were like linen boxers, an undergarment. I don't read of bifurcated undergarments for women in Scripture, should we forbid women's underwear?
PS
Barnes commentary states that both men and women wore pantaloons with their inner garments at times.