I feel ashamed of my underwear

Whn I was little I only wore briefs because that is what my mother bought me, during my early teens, when I had to start changing un front of people because of PE classes I began only wearing boxer briefs because that was what everyone wore, but some time ago I bought again a pair of briefs because I didnt remember how they felt and since then I have been buying and wearing mostly briefs, i like them sooo much more than boxer briefs, but I cannot see myself getting naked (in changing rooms, for instance) or acknowledging out loud the fact that I wear them because I have never in my life met anybody who used them, and the few times when this topic has appeares in a conversation everyone has seemed to be against them, for example, not a while ago I tried to talk about this with a (male) friend with whom I have a great relationship, when I mentioned that I was wondering if briefs were comfortable or not he became visibly akward so I started talking about other things. I know that my underwear is only a me thing but nontheless I am frustrated because I can't seem to handle the embarassment of wearing what makes me feel comfortable nor the sensation that I will get extremely judged, what should I do to try to get over these feelings?