To take care of your undies🧼, rinse first, pop ‘em in a mesh laundry bag (this keeps your delicates delicate 😉 )
…then wash like indicated for a pair that you have bought and hang dry 👙.
Don’t use bleach for coloured underwear or fabric softener!
And yes, the rest of your clothes will be fine!
You can bleach certain models (like totally white ones).