If you ask a man, he would most likely say he prefers his woman to wear lingerie to bed.  Is it really always feasible for the woman?  Is it comfortable?  Yes and Yes!  It may take some time to get used to but ease into it by finding lingerie that is similar to what you already sleep in.  Start with a basic piece.   If you are afraid of your little ones seeing you in it, keep a robe near by.  Good luck!