Is it permissible for one to give the Zakah (obligatory charity) to his indebted brother?
It is permissible for one to give the Zakah to his brother if he was indebted, or poor.
Is it incumbent on a father to cover the marriage costs of his son if the latter couldn`t afford them?
The son should seek the help of his relatives in order to convince his father to do the aforesaid, and the father should make sure that his son doesn`t commit fornication through helping him to get married, and Allah will reward him for doing so.
Is it permissible for one who sacrifices on behalf of another, with the latter's permission, to eat from the sacrifice?
Praise be to Allah, and peace and blessings be upon our Master, the Messenger of Allah.
It is permissible for one who sacrifices on behalf of another with his permission to eat from the sacrifice with his permission, and he takes his place in distributing its meat.
It is stated in Hashiyat al-Jamal 'ala Sharh al-Minhaj (Vol.5/P.262): 'If a person sacrifices on behalf of a living individual with his permission, does he take the place of that individual in distributing the meat, because permission for the sacrifice implies permission for distribution, or does it depend on explicit permission? There is room for consideration, but the former view is not far-fetched.' And Allah Almighty knows best."
Is it permissible for a woman to wear underwear while performing Umrah?
Yes, it is permissible for a woman to wear underwear while performing Umrah. This is because she should keep her regular clothes that cover all her body while being in a state of Ihram (ritual consecration) for Hajj, or Umrah. However, she should uncover her face and hands, but it is permissible for her to let her head-covering garment drape from her head down over her face when non-Mahram (i.e., marriageable) men pass by her. And Allah Knows Best.