I'd second the GC2B route, It aslso just looks like an intense sports bra or crop top type thing. So when seen on the floor or in the wash, it's not like "WHAT THE #@!#, IS THAT?!".
I also second the sending it to a friends house method.
Do your parents go through your mail? When I lived at home I would usaually just track the package and meet the post man at the door. Then I would lie about what was inside. Like "oh, just a T-shirt I got online", then show them a shirt that they've never seen before.