Madonnatwin daughtersEstere and Stellawere certainly feeling happy on Wednesday night.

The6½-year-old girlswere all smiles as they performed a dance routine together to Pharrell’s 2013 tune “Happy,” as seen in a video the Queen of Pop posted to her Instagram account.

Both looked adorable in matching bright blue shorts, navy short-sleeve T-shirts, black sneakers and a headband scarves as they performed the choreographed routine — first separately and then together with a woman who appeared to be a dance teacher.

Of course, this isn’t the first time Madonna has shared video footage of her girls dancing on Instagram.

The duo have been in dance class since they were at least 5 years old, following in their mom’sfootsteps with their impressive movesand dancing to everything from hip hop to salsa. Madonna often dubs the clips, “Dance Therapy.”

Estere and Stella’s love for music has been apparent since Madonnawelcomed the twins home from Malawi.

The “Material Girl” — who is also mom to daughtersMercy James, 13, andLourdes, 22, plus sonsDavid Banda, 13, andRocco, 18 — has sharedmultiple clips of her two youngest children singing, in addition to showing off their rhythmic talent.

WATCH: Madonna’s Children Create Their Own Dance to ‘The Greatest Showman’s’ ‘Rewrite The Stars’

Madonna previously revealed why she decided to open her heart and home to her daughters in an interview with PEOPLE.

“Sometimes I would just close my eyes and just think, ‘Why isn’t my kitchenfilled with dancing children?’ ” she said. “There’s so many children that need a home,” she recalled at the time. “I thought, ‘What am I waiting for? Just do it.’ ”

Madonna/Instagram

Screen Shot 2019-03-07 at 8.02.24 AM

In addition to their dancing clip on Wednesday, Madonna also shared multiple pictures and videos of her twin girls on her Instagram Story.

One shot showed the two sisters dressed in matching pajamas, pressing their foreheads next to one another. “2 heads are better than one!” Madonna wrote on the shot.

A series of videos came next, with the girls in bed sending their love to Madonna from afar. “Goodnight Mambo,” they said, in unison. “Really, really, really, really, really want you to come home.”

“Feeling guilty,” Madonna wrote.

source: people.com