I love to be naked when doing yoga at home. It gives a lot of freedom. I normally don't wear any thing while working out at home.
But this won't work in houses where many family members live. In my case, me and BF live together. I workout nude and he loves it :)
Wear what is comfortable at home. When practicing in public wear what is comfortable yet does not reveal any naughty bits.
A regular Bra and Panty is meant to provide support to your body as you do the chore or run errands but when it comes to performing heavy duty exercises or sports there are special bras for it. It is important to understand that Yoga is an low intensity workout but it is important you are well equipped while engaging in such activity. In the last few decades as Yoga got is boom as people started working towards healthy living and started adapting Yoga as a part of life and a great habit.
Instead of just misunderstanding as religion but following the science and lifestyle religiously people somewhere understood its importance in our fast lives.
And that where the capitalist market also picked up on it introduced the Yoga clothes to the people and that motivated them to do Yoga in a much more fashionable way.
These special yoga friendly clothes are made from stretchable fabric that helps you move your body with complete ease.
And the best part on top of that is that they also have special collection of inner wears like the Yoga bras and panties.
The Yoga pants give you the freedom to twist and move your legs freely and the pants also give you a comfortable grip around the waist.