It doesn't get more family friendly than this; Stockard Channing (and others) from the film; Grease. This is the last place you'd expect to find a panty scene. I've always found Stockard Channing sexy, and she looked really good in this movie.

Two unexpected underwear scenes from the film; Popeye. One is a musical number set in a brothel (because what's family entertainment without hookers?), and the other features an underwear clad Shelley Duvall singing a double entendre song about Bluto being...large.

Tattooed Teenage Alien Fighters from Beverly Hills was a really bad Power Rangers rip off from the 90s. American takes on Super Sentai are endearingly cheesy, but what Power Rangers was to the Backstreet Boys, TTAFBH was to O-Town. I remember it was on later in the morning and you could only catch it on TV if you were home sick from school. I never saw this episode during the show's initial run, but wowzers! How on Earth did the show runners get this past TV censors?

The team figures out they are stuck in some sort of nightmare dimension, and to prove it, they test the hypothesis by imagining whatever it is they want to see. One of the guys devilishly leers at one of the female team members and "imagines" her jacket, shirt, and pants disappearing. And she ain't wearing no "costume underwear" underneath as our esteemed colleague Hal9000i derisively calls it. She's wearing a tight, dark blue bra and panty set like what comes out of the Victoria's Secret catalog. It's not played for laughs. It's played for T&A.

A lot of movies and shows in the 90s had a Jennifer Love Hewitt/Melissa Joan Hart/Tiffani Thiessen girl next door type, and they were always treated like chaste Madonnas with no more than a belly button peak ever happening. You just weren't seeing those girls in their underwear, let alone naked. And in this show, they literally take a 90s girl next door and strip her down to her bra and panty set with no apologies about it.

Right before the dude strips her, she has that nervous look on her face and even starts backing up. It's a submissive and sexy little detail. She goes from embarrassed to indignant throughout.

My only complaint is I would have also undressed the blonde team member who's super hot (last picture). But hey, if she shows up in my dream, I'll certainly "imagine" her down to whatever bra and panty set she has on under that purple outfit. :D

Three's Company was always good solid family entertainment...what they used to call jiggle TV.

Can you please post your video source for this? It's clearly much better quality than the one I can find on YouTube:

youtube.com/watch?v=Pt8YaAY34Y0

Thanks

Fango

Most certainly! The Dailymotion rip looks way better than the YouTube rip: https://www.dailymotion.com/video/x5a8q3o

It's still probably originally pulled from the same VHS tape but not bad quality.

Fran Drescher had some extremely risque scenes in the family oriented television show; The Nanny.

Fran Drescher was always underrated hot.

She got even better looking as she aged. She was at her absolute hottest when she was in her mid 40's. There were two shows she did after The Nanny. Living with Fran and Happily Divorced. Neither lasted very long, but there was a scene in one of them (I'm not sure which, but I think it was Living with Fran), where she comes to the door of her apartment with her pants unzipped, panties on full display. This happened at the end of the episode. Does anyone remember this scene? I've been looking for it ever since I first saw it on TV, but it's nowhere to be found.

Adriana Birolli ENF from some show. What I can tell of the premise, her mother gets furious at her drags her from the shower. Adriana barely manages to clutch a towel to her front. Then her mother throws her in bed and spanks her bare ass while she screams and writhes. Two other women show up and watch in shock as she's spanked. It's concealed nudity, but so barely concealed. Also here's a concealed nude magazine picture of Adriana as well.