Both Athleta and Lululemon make soft, fitted, comfortable and good looking leggings in a variety of styles; with or without pockets, capri, 7/8, etc. They are great for fitness, yoga, lounging around the house, and can be dressed up as part of an outfit. They are high-end, but the look and feel of the fit and fabric is hard to beat.
We are huge fans of Athleta and their Powervita material, especially when used for their Elation tights.
In this video, PeanutButterVibes compares the pros and cons of leggings from both brands.