Fifth Harmony is following in the footsteps of their X Factor family members, One Direction, by appearing on Sesame Street.

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Ally Brooke Hernandez, Normani Kordei Hamilton, Dinah Jane Hansen, Camila Cabello and Lauren Jauregui filmed for Sesame Street on Tuesday.

Sesame Street has been filming a special this week while using the hashtag, "#SesameTakesLA" on Twitter and Instagram.

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Fifth Harmony was only one of the many musical guests this week. On Tuesday, Fifth Harmony, Gwen Stefani and Jane the Virgin's Gina Rodriguez were on set.

While on set, Hernandez got to meet Stefani. On Wednesday she shared a photo of herself with Stefani and said it was an "honor" to meet her.

All the girls had the chance to interact with Elmo! They all took to their social media accounts to share their experiences with the iconic fuzzy red character. Hernandez had "a heart-to-heart with this amazing little monster!!"

Had the honor of getting to work with/having a heart-to-heart with this amazing little monster!! #Elmo #SesameStreet A photo posted by Ally Brooke (@allybrookeofficial) on Apr 1, 2015 at 7:13am PDT

Hansen received a kiss from Elmo. Check out the video of it happening below!

A video posted by ♛DinahJane (@dinahjane97) on Mar 31, 2015 at 4:43pm PDT

Cabello posed for a fun and adorable picture with Elmo. They became great friends on set!

I MADE A FRIEND AND HES RED AND FURRY AND EXCITED ABOUT LIFE!!!!! A photo posted by camila_cabello (@camila_cabello) on Mar 31, 2015 at 6:50pm PDT

Hamilton and Elmo sang and danced together, which can be viewed below.

Jauregui called Elmo a "cutie pie" and shared a cute picture of them together.

The Sesame Street Twitter shared a picture of the girls with Kermit the Frog. Hamilton is giving Kermit a smooch.

As of now, there is not a known date of when the girls will be seen on Sesame Street, but they did have a blast on the set. Cabello tweeted that being on Sesame Street is something she'll tell her grandchildren about in the future and obviously show them too.

Are you excited for Fifth Harmony to appear on Sesame Street?

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