I hate wearing them. Of course, when I wasn't binding, I hated not wearing them. I hate having the anatomy that makes wearing them a question in the first place.
That being said: The right bra should be more comfortable than being braless, because it should protect against pulling, jiggling, and nipple chafing while not constricting your breathing. If it's the shoulder straps, try wider straps. If the underwire is digging in and you're not a solid C cup or bigger, go wireless. Try a sports bra with a racerback or a camisole with built-in cups if the strap-around-the-ribcage isn't working for you. In general camisoles (with shelf bra or built-in cups) are going to be your most comfortable option provided you don't need serious support.
And skip all the fancy, lacy styles in favour of seamless satins, soft synthetics and cotton stretch knits. The uneven fabrics like lace, especially lace trim, can rub, dig in and chafe.