Penis only gets hard when wearing underwear? ?

I believe that to the poor he gives him sorrow that they see it naked, show him the pleasure that gives a vagina, if he likes it, next time he woke up quick. That happens when the man feels fear, that his best friend doesn't work, it lacks of desires and security in if same.   

That is strange. Why not have your partner stroke it instead. I'll bet you'll get harder faster that way.

putting it in where

If your partner can work with that, you don't have a problem but if they do and you want to fix it, look into seeing someone to see if it's mental 

Foreplay may help

It's a fetish, and by itself it's harmless.  The ONLY problem is if partners don't like it. Over time, you can retrain yourself if it's causing you some problems.  Try having sex with them on for the first couple of minutes and then pullin' your shorts off   If you're not sleeping naked, start doing that. And get naked when you jack off.  When you're at home alone, spend some time naked. Get used to the look of your nuts and appreciate how good it feels to touch and gently massage them.  One thing you ARE missing out on is gettin' your nuts sucked.  You'll like that a lot.  Is it possible that you don't like the look of nuts?  Or don't like having a manly bush?  Nuts ARE kind of odd, just hanging there, but they're just part of being a man.  

Thank you for sharing this with us.

Hi Ryan, leave those pantys on then, and I'll pull that big boy out thru the fly and work it over for you.