1.Gather lingerie which requires washing.
2.Clean sink.
3.Fill sink with water and liquid laundry detergent.
4.Throw lingerie in sink. Agitate manually. Let soak a minute.
5.Turn on shower. Let sink drain.
6.When water sufficiently hot, ball up lingerie, throw in corner of shower.
7.Get in shower.
8.Face showerhead, letting hot water soak and warm body.
9.Turn around, letting water soak hair.
10.Face showerhead again, pick up shampoo. Lather hair while retreating to the back of tub a bit, not so far as to get cold but where water does not reach hair.
11.Move back to showerhead, turn away from showerhead so that hair rinses.
Repeat step 10 for conditioner. While conditioner does its work on hair, do cleaning-of-body thing, using plain water where appropriate and soap where appropriate. Shave pits.
Repeat step 11.
Repeat step 10 for deep conditioner product. While deep conditioner does its work on hair, use soaped-up loofah/exfoliating gloves on legs. Rinse out lingerie thoroughly in shower spray.
Repeat step 11.
Turn off shower, squeegee/sponge water off doors and walls, hang up lingerie to dry, dry off self with towel, tie patented Turbie Towel around head. Exit shower.

...This actually doesn't take all that long.