The hitmaker, 36, and her famous companion, 29, had to become tiny Quiddlers, based on the American physical comedy group.
Nicole shared snaps of the pair dressed up in matching blue tracksuits and red trainers on her Instagram page, as they got to grips with the unusual routine.
The stars, who became the very first female Quiddlers ever, still managed to look stunning in the photos, prior to their final performance on the NBC programme.
Nicole and Ciara will go up against Cheryl Burke, Joe Jonas, Jeff Dye and Alan Ritchson, who will all learn new skills every week, in the hope winning the most points overall.
They will have to work in pairs, and with help from guest stars, will learn how to perform stunts, magic tricks and acrobatics.
He said: “The cast is amazing. It’s going to be a lot of fun to work with people whose work I admire and to see them in a different light.
“Who wouldn’t want to work with Ciara, Nicole Scherzinger and Cheryl Burke? And my daughter said if I don’t do a show with a Jonas brother, don’t come home.”