Hi,
I would like to agree to Mary here. This may be Acanthosis Nigricans, however, the fact is that it can also be palin hyperpigmentation induced by friction which may have lead to overgrowth of the superficial layer of the skin.
I think Mary missed the fact that the skin in Acanthosis Nigricans has a velvety texture to it.
It is also considered a marker for cancers in some cases, though it is noted commonly with obesity and diabetes. A dermatologist would be your best bet.
Hope this helped.
It sounds like you are suffering from Acanthosis nigricans. It is a condition when too much insulin spills over into the skin causing a dark brown (bruise-like/dirt like) patch on the skin. It is common in the areas you mentioned. It is closely tied with obesity and diabetes. I have a family history of diabetes (I don't have it), but I did have a dark brown patch under my arms. I began to exercise and eat healthy and some of the patches have disappeared. I don't have diabetes, but I did have a high content of insulin in my body.
Do some research on this and see if it fits your description. Ultimately, I suggest you see a dermatologist.