If you have lingerie marked “hand wash only” you can use a clean sink and a little liquid hand soap if you don’t have liquid laundry detergent. Do just a few at a time. Plug the sink, wet the clothes but don’t fill the sink. Put a little dab of soap on the crotch and/or pits of the items and rub between your hands, lathering and working the lather into the whole item. Then swish them all in the sink water for a few minutes. Drain the sink and refill it halfway. (A full sink will splash all over the floor when you swish.) Give the clothes some squeezes and swishes to get most of the soap out. Drain and rinse one more time. Remove each item and squeeze out the water, but don’t wring them hard like you would a rag. Hang them up where they can drip dry.

Or get a mesh bag and put them in the washing machine in cold water, gentle cycle. Hang to dry.