After the birth of our second kid, on very little sleep mind you, I got up dazed and late for work. Throw on my clothes and get to work JUST on time.
About mid-day, I realize that my left pant leg feels funny, and I look down and realize my old underwear has been in my jeans all day and are now hanging out of my pantleg and dragging around on the ground behind me.
Not quite kid underwear in the pocket, but let's just say, I was ready to leave work at the end of that day.