The short answer is “No. Absolutely not.”
The long answer is a bit more detailed. This is one of the most frequently asked questions about massage and deserves some discussion.
Massage therapists are typically taught to tell clients, “Undress to your level of comfort.” I find that alone to be vague, and it doesn’t really answer the question.
At some point I switched to, “I’m going to step out for a few minutes. Go ahead and undress to your comfort level. For some that means undies on, others like to take them off. The chair in the corner and the hook on the wall are both for you to put your clothes on. I’ll be back with a knock on the door, and I’ll wait for you to answer before I come in.” That’s been working pretty well, but sometimes I feel more of an explanation is useful.
First, no matter what, you’ll always be covered (draped) with a sheet and a blanket. You’ll never be left feeling exposed or chilly. When I work on an arm, I fold the sheet back and tuck it under your arm so it’s secure. No drafts, folks! I follow the same protocol for the leg.
When I work on the back, I fold the drape down at the hips. If you’re wearing underwear I may, with your permission, gently tuck the sheet around the waistband to protect your clothes from massage oil. If you’re wearing a bra, I’ll work around it. If you’re wearing a t-shirt or tank top or space suit, I’ll work through it. I know plenty of very effective massage techniques that can be administered over clothing.
Wear whatever you feel comfy in. I don’t care, and I’m not judging you. I don’t need to know why you are wearing anything or not. This massage is about you and it’s important that you feel comfortable. For some people that means leaving some clothing on. For others, it means taking it all off. There is no right or wrong, this is your massage.
I hope you’re looking forward to a great massage!