Never's Remedy

Neither surprising, nor disturbing, no. However, was there any underwear (in terms of panties) to be found on women in previous eras? Or did everyone swing about commando in the past? I seem to recall at least linen trunks with a tie at the front for men, but I can never be sure that what I've seen in film or in books is historically accurate and/or know what time period certain garments were worn.