I'm not Hope; but, I can tell you what worked for me.
Technically, you are supposed to be able to get away without having to wear undies if you wear the pantyhose with the cotton gusset that mimics underwear. This works well for many people; however, not for me. I had a different problem.
When I was working and wearing pantyhose, I found that I had a very difficult time keeping my pantyhose panty portion securely around my butt where they belonged. My pantyhose tended to shift and droop. You can imagine what a problem that was. So, I tried something different.
I put my pantyhose on first and put my panties on over the pantyhose. I found my panties (I wore the full version not bikinis) held my pantyhose securely in place and I no longer had to make trips to the washroom to adjust by undies.
I am now retired and thrown my pantyhose away. One of the best choices I have ever made.
Hope this helps you.