I am a boy and I think if the girl doesnt see you do it then do it if you like, and what is wrong with looking up a girls skirt to peek at their undies, if think its fine, boys all go through puberty and if think this is one of the things that a boy would do. so there you go, is it right to look at a girls undies, for a boy yes, for a girl no.
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No, it is inappropriate and disrespectful to look at someone's underwear without their consent. It is essential to respect people's privacy and personal boundaries.