Allure magazine gives us:
(presumably for textiles as we all know this stuff) except for the last tip:
Splurge, even a little. If you’re excited about the lingerie that’s under your dress, unzipping won’t be as scary. “It’s a good confidence boost,” says Marin. “And you don’t need something traditionally sexy.” If the perfect white cotton bra makes you feel good, it’s doing its job.
So there we have it. To feel more comfortable being naked, wear exciting underwear. I simply didn’t realise Mrs Buff and I have been doing it all wrong all these years!