**Core Concept**
The pudendal nerve is a complex nerve that provides both sensory and motor innervation to various structures in the perineum. It originates from the sacral nerve roots S2, S3, and S4, and plays a crucial role in controlling pelvic floor muscles and maintaining continence.

**Why the Correct Answer is Right**
Option D is incorrect because the main nerve supply of pelvic organs is primarily provided by the autonomic nerves, including the pelvic splanchnic nerves, which arise from the sacral spinal cord (S2-S4). The pudendal nerve, while important for pelvic floor function, does not supply the pelvic organs themselves. Instead, it innervates the muscles and skin of the perineum.

**Why Each Wrong Option is Incorrect**
**Option A:** The pudendal nerve is indeed both sensory and motor, as it provides sensory innervation to the skin of the perineum and motor innervation to the levator ani and external anal sphincter muscles.

**Option B:** The pudendal nerve does indeed arise from the sacral nerve roots S2, S3, and S4, making this statement true.

**Option C:** The pudendal nerve exits the pelvis through the lesser sciatic foramen, along with the internal pudendal artery, making this statement true.

**Clinical Pearl / High-Yield Fact**
The pudendal nerve is often associated with obstetric procedures, such as forceps delivery, where it can be compressed or damaged, leading to pudendal nerve palsy.

**Correct Answer:**
✓ Correct Answer: D. Main nerve supply of pelvic organs