Vanessa Hudgens, Ashley Tisdale Dance to Beyonce!

Shake it, girls!

Former High School Musical costars Vanessa Hudgens and Ashley Tisdale stopped by North Hollywood's Millennium Dance Complex Thursday for an impromptu dance class, and now they're sharing video from their session -- where they bopped around to Beyonce's "Run the World (Girls)" -- with fans.

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"Dance class with @slaughteration and Nessa #whoruntheworld," Tisdale, 26, tweeted before heading into Millennium with BFF Hudgens, 23, and choreographer Jeri Slaughter.

Hudgens -- who costars in the upcoming Journey 2 -- credits dance with helping keep her in shape while she filmed the action flick in Hawaii.

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"I'm a very physical person. I love working out so [on set] it was just a matter of keeping my stamina up and I just made sure my cardio was in good shape," Hudgens told Us Weekly at the Thursday evening premiere of her new film in L.A. "I love, love, love working out. Anything from dancing -- which me and my best friend Ashley did today -- to kickboxing. I love it!"

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Now that Tisdale posted their Beyonce choreography for fans to see, Hudgens isn't afraid of having her moves critiqued. "I love dancing. I own it and I think as long as you own what you're doing, it's fun to show the world. Why not?" she told Us.

Watch Hudgens and Tisdale's moves for yourself in the sexy clip above!

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