Needed not Wanted

I am your favorite pair of granny-panties. The ones you put on when you don't want anything to ride up your ass, you know the pair, the comfortable ones.

You need me, without me you are uncomfortable, things just don't sit the same.

but.

You would never wear me to a party, or under a fancy dress.

You need me, but you don't want me.
I am always there when you have a problem, when you need help. You can always count on me to get the job done and done right. I am good at that. But for God's sake, when I ask for something from you, help me.
I don't do it often, so it might be easy to ignore, but please, listen to me when I need you.