So I do not understand the rulings regarding washing self after toilet, wudhu and salah. If I am in public toilet and I can’t wash myself with water then I cannot pray my salah. But then I find water hours later and I do wash self and I then do my wudhu and salat. I will still be wearing the same underwear as I was when I couldn’t wash myself because it is same day and I am not home. Is this salah accepted? Must I change my underwear if I not washed myself with water after toilet?

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If the underwear became wet with urine then yes you need to remove it before praying. However if you wiped yourself clean with a tissue and the wetness of the urine did not transfer into your underwear then it will not become najis however to pray you would still have to wash yourself