In ancient times, the concept of underwear was not as clear as it is today. Women in different cultures and periods of time wore different kinds of clothing.
In many ancient cultures, women would tie their breasts tightly with cloth straps or ropes to achieve the effect of shaping and covering their breasts. This style of dressing was found in civilizations such as ancient Egypt, ancient Greece, and ancient Rome.
In many ancient civilizations, women wore robes or skirts to cover their bodies. These robes or skirts sometimes have openings or gaps so that women can move more comfortably.
In ancient China, women sometimes wore a type of underwear called a "belly pocket". The belly pocket is usually made of cloth and is shaped like a small vest to cover the chest and abdomen.
During the European Middle Ages, women began to wear more close-fitting clothing, such as corsets and tights. These garments are usually made of cloth or leather and are fastened to the body by means of straps or hooks to achieve a flattering effect.
It is important to note that the way women dressed in ancient times varied from culture to culture, period, and region, so the exact way they dressed may vary from region to region and from period to period of history.