en_tn_condensed/exo/28/42.md

General Information:

God continues to tell Moses what the people must do.

undergarments

These are underwear, clothing worn under the outer clothes, next to the skin.

naked flesh

This is a euphemism for sexual organs. Your language may have a different polite way to speak of these things. (See: rc://en/ta/man/jit/figs-euphemism)