The seamless bikini or hipster style don't show through! But if you're really worried, just wear a longer top to cover your butt...but it's not a big deal, everyone wears underwear :)

Wear long flare yoga pants that cover your shoes. No such thing as "skinny" yoga pants.

<div id='prev-mm' class='mm-img'><a href='https://s.yimg.com/hd/answers/i/9b1bc321bcf74dd583b47e840772e47c_A.jpeg?a=answers&mr=0&x=1407139570&s=56db18d6eab589cb7dbad9509c8f7b26' rel='nofollow'> <img width='392' height='221' src='https://s.yimg.com/hd/answers/i/9b1bc321bcf74dd583b47e840772e47c_A.jpeg?a=answers&mr=0&x=1407139570&s=56db18d6eab589cb7dbad9509c8f7b26'/></a>

look at mine I bought it from Victoria secret

I got a pair of seamless panties and noticed they don't show panty lines under my leggings and yoga pants there probably the best solution

Try seamless undies, they have smooth edges so they're less noticeable under tight clothing.