My son loves to wear his sisters Dora Undies, I let him because I try not to say "that's for girls/boys", he has his own little jocks, but he wants Dora like his sister.
We were actually given he first pair of Dora undies from my friend who has 3 boys, her middle child *loves* Dora, and someone bought Dora Underwear for him for his birthday, which were girl ones because that's all you can get! His mum said no way, and gave some to us.
None of our Dora underpants have lace on them (8prs), but they are girl bikini leg style.
We've never even seen the Dora show, or have any other Dora stuff, but my kids have picked up on her here and there anyway, and are always happy to see her (in the shops, toys at other peoples houses...on their undies everyday..

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