From pull-ups to underwear

I've decided on Tuesday that I'm probably going to start sending Matthew to school in his little underwear. He wears underwear when he's at home for the most part on evening/weekends. I know he's not 100% ready, but he's close. He hasn't pee'd in a pull up for a long time. Well he did this weekend, but he woke up wet, and that happens. But usually he wakes up dry as can be. Usually when he has to go potty he'll pull his pants off and go. The pooping thing is a little trickier. He sometime tells me "poop" but then there's time where he tries to go and hide and starts pooping in his pants. So I have to catch him. He usually doesn't have to go at school because he goes before he goes to school and he's only there for 3 hours. So hopefully he can make it home and stuff instead of pottying in his pants, I'm sure he'll be ok. Just worried. He's even doing a good job out in public, I'll take him to the restroom and he'll go there. It's finally starting to click with him.