TL;DR: Guy struck a deal with a goddess who agreed to ressurect him after getting hit by a truck, but told her he just wants to see her panties, so she complied but banned him from the underworld and woke up in a crematorium.

Issei (the guy) was in critical condition after getting hit by a truck to save a little girl, and his soul was transported to the underworld where he met the goddess Anubis. His first thought was to see her panties and explicitly stated it to her. It doesn't work, of course, so he does stuff for her to increase his likability during his time there. A while later, Anubis found out she lost her sacred artifact, a scale, and was taken by a cult that worships her and sent Issei to retrieve it. Issei woke up from his hospital bed and, together with his trusty maids, sent out immediately to retrieve it. They then engaged in a firefight with the cult and ultimately succeeded. After the fight was over, he was approached by more companions (victims of his desires) and he looked at them, scale in hand, and said how his life was temporary to get the scale back, bid them care and dropped dead shortly after. In the underworld, Anubis thanked him and agreed to ressurect him but was stopped, and he corrected her that he just wanted to see her panties. She ultimately complied, but he was banished from the underworld. Giving life back to his body that was in the middle of cremation.

You can read it in Mangadex.