Maybe the story could revolve around a little boy who accidentally stumbles upon his mom's inanimate panties while looking for something. He doesn't understand what they are at first and it leads to a series of comical misunderstandings in the family. But then, his mom gently explains to him about privacy and the different items in the house in a very simple and kind way.
There could be a story where a mom donates her inanimate panties that she no longer uses. She decides to give them to a charity that provides clothing to those in need. Along the way, she meets different people who are involved in the charity work and hears their stories. This experience makes her realize the importance of giving and how small items like panties can make a big difference in someone else's life.