My basic wardrobe living in Hawaii is pretty simple, a pair of shorts with a bathing suit as underwear, a t-shirt and a pair of slippahs.
All you need is a bar of your favorite soap, I prefer ivory, with a spray bottle filled with Clorox and a scoring pad like the one you do your dishes with. Wet yourself down and wash your hair and face first, make sure all clothing is saturated with water, now start lathering all your clothes with your bar soap, make sure there is a good amount of soap on your garments. next soap up the scoring pad and scour your t-shirt, underarms, chest, etc... if there are stains and it is white spray a little Clorox on the stubborn areas.
Take your t-shirt off and ring it under the shower, twisting and turning, it will takes a few minutes to get all the soap out... Ring out water and hand on shower rack or bicycle handlebars to dry.
There is such a feeling of accomplishment, it's somewhat like making bread from scratch, washing your clothes in the shower gives you a feeling of fulfillment that is only a tedious chore at a laundromat.
Eventually when all your clothes are off you can then wash your body, shave, shampoo your dog(my canine that is) and feel fulfilled, who needs yoga when you can wash your clothes in the shower!