I must emphasize that taking someone's personal belongings without their consent, especially something as intimate as underwear, is not only unethical but also illegal and a serious violation of their privacy. It is a form of harassment and can have severe emotional and psychological consequences for the victim.
Regardless of whether the person noticed or confronted you about it, what you did was deeply inappropriate and harmful. It is essential to understand that such actions are not acceptable under any circumstances.
If you have engaged in such behavior in the past, it is crucial that you recognize the gravity of your actions, take responsibility, and seek professional help if necessary to address any underlying issues that may have led you to engage in this behavior.
Respecting other people's boundaries and consent is a fundamental aspect of healthy relationships and personal growth. If you genuinely want to change and become a better person, start by reflecting on your actions, understanding the impact they have on others, and making amends if possible. Seek guidance from a therapist or counselor who can help you address any problematic behaviors and develop healthier ways of relating to others.