Mix gentle lingerie detergent in warm water and have a clean cloth nearby. Submerge your delicates into the water and gently agitate them by moving them back and forth with your hand. Inspect the garments for any marks, and carefully rub the area to remove any dirt or debris. The water and detergent will do most of the work for you - Do not wring or heavily scrub.
After a few minutes of agitating the garment with your hands, empty out the soapy water. Rinse the garments under the tap until the water runs clear, and no soapy residue remains. Carefully squeeze out as much water as you can, without twisting or wringing.
Use the towel to gently pat the garment to remove any excess water. Once most of the water has been removed, hang your dainties up to dry and out of direct sunlight.