As I don't have picture of the lesion it's difficult to diagnose but as you've explained there's no rash,itching or pain it may be due to many reason such as obesity,tight clothes which leads to friction,hormonal imbalance,medications etc.
You can use skin lightening cream,aloe Vera gel .
Next Steps
You should consult cosmetologist or dermatologist to know the cause and specific treatment.
Health Tips
you can apply curd and lemon in that area for 15-20 min.(first do patch test if it suits you),potato juice,can use otmeal and honey.