Not a bra and panties match, but something close to it. At In Your House: Rock Bottom (1998), Goldust and Jeff Jarrett faced off in a Strip Tease Match. If Jarrett won, Goldust would have stripped. If Goldust won, Debra would have to strip. Thanks to Commissioner HBK, Goldust got the victory and Debra had to strip. Couldn't find the segment by itself, but was able to find the whole show. The stripping part starts around the 1:10:00 mark.
hxxp://www.youtube.com/watch?v=h8pRMlBqhOU
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