The word derives from the French word linge, washables—as in faire le linge, "do the laundry".
The concept of lingerie as a visually appealing undergarment was developed during the late nineteenth century. Lady Duff-Gordon of Lucile was a pioneer in developing lingerie that freed women from more restrictive corsets.
Here's the evolution of lingerie through the ages:
Source: The Evolution of Lingerie Through the Ages
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