Underpants
Front the right way, back the right way and the right leg in the right hole, while the narrow edges tend to chafe. Getting dressed asks for more fine motor skill than it looks, and the steps to manage it are shown clearly below.

Underpants
A pair of blue underpants with a white waistband.
About this visual support
Putting on underpants looks like one thing but is several at once. A child has to find front from back, keep the leg holes apart, bend, balance on one foot and pull the edge up without it twisting. Add that the narrow elastic often feels tight or scratchy against the skin, and a small garment becomes a fairly big task.
Visual support breaks it into visible steps: hold the pants with the label at the back, one leg at a time, pull up to the waist, check it sits right. With the order in front of their eyes, a child no longer has to solve orientation and motor control at the same moment, and more attempts end in success.
One practical tip: add a small mark or picture at the back so the right side is easy to find. That removes the most common mistake before a leg even goes in.
To place getting dressed into a morning routine with pictures and check-offs, you can build it in the Routined app and try fourteen days at no cost.