How do you feel about me wearing women's underwear under my pants without anyone ever finding out?
Seriously? What reason do you have to wear women's underwear?
They feel much better
It's okay to wear them if they really feel so comfortable to you, but I feel like this is something that should be kept a secret from the public. Not everyone is going to be receptive to this, and they can possibly judge you poorly on it.
I knew they didn't have to be worn in public. So I'm free to wear them here?
Yes, if you're not in public then you can do whatever you want within the privacy of your own home. It's just thought to be polite to keep sexual stuff from out of the public eye.