When I was younger, I used to always sneak into my dad's closet and just look at his underwear. It was usually before puberty, so getting hard wasn't too much of an option. I never wanked in any of them; but I'd definitely try them on! I just remember always be excited by his underwear for some reason. He used to have the most unique, sexy underwear. Bikini briefs kind with all kinds of different colors. I've always wondered if they knew what I was doing in there.
When I was little, I used to wait until he'd be in his underwear at night before I'd go hug him goodnight. I'd love to feel him in his undies for some reason. It was only when I was about 6 through 8 years old, though. He then started to move onto boxer-briefs which made me sad as a young lad. But, just being in his briefs made me feel so great.