I'm a little embarrassed to admit it, but I learned my favorite taping method from a japanese Manga. If you google "Daiwari to josou to assistant" and go to the images results you'll find a manga page with a tucking diagram. I'm not exceptionally large, so I can use this method to hide everything inside. I use 3M Micropore medical tape and it holds up very well to movement and moisture. I've tried doing this with a condom catheter for extended wear, but I've found that with a little judicious taping I can just leave an opening at the end to go thru. (TMI?)
I find it to be very comfortable and I've occasionally worn this overnight. Exercising, Crossing my legs, even swimming... everything has stayed secure.
It can be a little uncomfortable if you're prone to getting 'excited', but I don't do that that often and the the few times that I have the 3M micropore tape has kept anything from budging.
I don't know if this would work for everyone but it works for me and I love the way it looks.