Fill a sink or dish tub with cool water. Add one or two capfuls of gentle laundry detergent to the water and swish the water around gently to get some good bubbles going.
Sort your lingerie for washing, separating the colors. Dip one or two pieces with similar colors into the sink or tub together. Move the lingerie around gently in the water.
Drain the water and rinse out the lingerie well with cool water until you remove all the sudsy soap.
Lay out large bath towels -- big enough to hold your lingerie pieces.
Squeeze the wet lingerie gently in your hands and lay it out onto the towels to dry. Lay all your lingerie flat to dry except your stockings -- hang these from a clothesline or from hangers. Never, ever wring out your lingerie -- think saggy and stretched fabric if you mistreat it.
Leave the pieces on the towels until they dry completely.
Roll up your undies into neat little packages after they dry and place them neatly into a dresser drawer. Fold slips in half at the waist and roll them up neatly, too. Fold bras in half to stack the cups and tuck the straps underneath the cups. Roll up nylons or stockings and tuck them away in your drawers. Hang camis from hangers to keep them wrinkle-free and ready to wear.