Ideally, go for the classic hand wash.
In the sink, tub or shower - just add a little bit of detergent, gently rub and leave to dry.
If you have to go for machine wash,
Use cold water
Do not bleach / iron / dry clean / use fabric softener
For bras, wash the padding inserts separately (ideally hand-washed) so they stay in shape
[IMPORTANT] Wash dark and light-coloured apparel separately!
Pro-tip: Use lingerie or laundry net bag so they don't lose their shape. Wash your apparel inside out. Don't wring your activewear!