Madness - Close Escape

That was a close escape, have to get a new hobby to relate.
Something less conspicuous, won't take up too much time,
something less energetic, for what I've got in mind.
I won't be too persistant 'cos I'm not that way inclined.
See, that's the one for me. Look under "Collins" see if she's free.
Sweaty fingers find 5p 4151683
"Hello Miss Collins you'll not know me. I'm in the undies
Buisness, see? Please please can you tell me the size; how
Far from the knee?"

Oh dear dear, me luck is running thin.
I'll take another name I might have a win.
What? 2 more points? I hope no one fills it in.
See, that's the one for me. Look under "Dickens" CFG.
See if she'll speak to me. Hand's get shakey eye's can't see.
Having trouble find 5p 2171983
"Hello Miss Dickens you'll not know me, I'm in the undies
Buisness, see?"

Feel more relaxed now here we go again.
Hoi! No temporaries I've heard most take me in.

Oh dear dear me, that is the one it fits.
So please please can you tell me the textured fit feels good to me.
In the naked mood, try to grin and bear with me.
Please don't think me rude, I only hear don't want to see.