Season 3, Episode 2: "The One Where No One's Ready"
In this episode, Ross grows irritated with the rest of the gang when they're pressed for time to get to a formal event at the museum, yet everyone is taking forever to get ready. Meanwhile, Chandler and Joey are having a disagreement about personal space in their apartment, leading to Chandler stealing all of his underwear. Joey retaliates by putting on all of Chandler's clothes at once, proclaiming, "I'm Chandler. Could I BE wearing any more clothes? Maybe if I weren't going commando!"