I wore a bra, some loose fitting short shorts and a top long enough to wear mostly as a dress.
I was someone that did still care while in labour and I believe it is possible to preserve your "dignity" (as many people swear otherwise) while in labour.
The shorts came off for the first internal but i had them on for another two hours or so until i got in the shower - when the top came as well. I kept my bra on because it was much more comfy.
And then when out of the shower i was in the top again.
After i gave birth the top came off for breastfeeding and i was all covered up in blankets everywhere else because i was freezing!