Hang around for underwear that is missing (6)
I believe the answer is:
linger
'hang around' is the definition.
(linger can mean to wait or hang around)
'underwear that is missing' is the wordplay.
'underwear' becomes 'lingerie' (type of underwear).
'that is' becomes 'ie' (short for Latin 'id est', 'that is').
'missing' is a deletion indicator.
'lingerie' with 'ie' removed is 'LINGER'.
'for' is the link.
(Other definitions for linger that I've seen before include "Remain behind" , "Dally, stay on" , "Delay departure" , "Stay behind" , "Dawdle, hang around" .)