Lots of boys (and men) like to wear items of girls clothes. Athough some boys would make fun of you if they knew (some narrow minded and stupid boys will always pick on anyone different from themselves). I would suggest though that you try and buy some new girls clothes for yourself. There are two main reasons for this. 1) There are always health issues involved in wearing someone elses clothes (you could catch an infection such as an STD). 2) If you "borrow" items of girls clothing without asking permission it is called theft and you'd have to explain what you were doing to the police and your parents if you were caught.
Sure, all you have to do is put them on. If you follow these instructions, you CAN wear panties!
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As we don't know you, or her, it is not a question we can answer with any sure knowledge.
Generally, people you are intimate with will find out about such peccadilloes. It is often best that they do not come as a great surprise.