The Undress command
The Knight removes all clothing except he leaves his underpants on.
This command can be used
to ensure a
Knight keeps his underpants on when getting into bed, or to have him
Undress outside the bedroom.
A Princess telling her Knight to
"Undress" or "just Undress" is much easier than saying "take off all
your clothes but leave your underpants on".
If the Princess wants her Knight to take all of his clothes off then she should use the Reveal command.
The
Undress command will only be useful if the Princess uses the command
often enough for both her and her Knight to remember what it means.
A Knight wearing underpants in bed
A Knight having to keep his underpants on in bed will feel a bit like
he is wearing a chastity belt.
Wearing underpants in bed indicates that
there will be no Joy, no Desire Kissing or Desire Play, no Devotional Cuddle, and not even a Calm-Down Cuddle. The
only sexual activity involving his Desire will be if his Princess
chooses to tease him by holding or playing with his Desire over his underpants.
A
Princess might tell her Knight to only get Undressed when he gets into bed if she wants to
enjoy just a cuddle. Or she might want to indicate that this time in
bed is just for her sexual pleasure, and perhaps say "Ritual" to enjoy a long Pleasure Kiss as that session's only sexual activity.
Having her Knight wear underpants in bed is an act of Princess Power
which may have a much bigger effect on the feelings of the Knight than
on his Princess. This will particularly be the case if he usually
sleeps in the nude, as then it will feel very different from usual.
If the Knight is naked before going into the bedroom, a Princess can tell her Knight to Dress for bed.

A Knight being Undressed in the living room
Outside the
bedroom the
Undress
command can be used whenever a Princess would like her Knight almost
nude, but does not want him to be fully naked. Particularly if she
remains fully dressed, an Undressed Knight can be a way of indicating
that a Devotional dynamic is active.
If the Princess later decides to go one step further she can use the Reveal command to have
him remove his underwear.
If a Princess wants a back or full body massage, then the room needs to
be warm
enough for her not to feel cold. As her Knight is physically
active when giving the massage he may become too hot if he is fully
clothed. If the Knight becomes hot, he can ask to Undress. Or the
Princess may think ahead and include the Undress command when asking
for the massage.
Having her Knight only Undress in the living room will
not make him feel as exposed or vulnerable as he would if he were fully
naked. This is why Affirmation
is done with a naked Knight, and why it is more powerful and fun for
both Devotees to use the Reveal command in the living room rather than
the Undress command.