"Finally got to meet this sweetheart –she owned it fully," Gomez, 23, captioned a video of her meeting with Audrey on Wednesday.
In the clip, the ladies groove to the former Disney star's "Love You Like A Love Song," before ending their number with a sweet embrace, at a stop on Gomez' Revival Tour.
This is the second time in two months that Audrey has had the chance to show off her dance moves in front of millions (Gomez's post received more than 1.5 million views). In late April, she took the stage of Rachael by storm, dancing alongside a few of the Brooklynettes' dancers.
"Every time I see her dance, even when it's just in her class, it makes me cry," Julie Haise, Audrey's mother has said in the past about her daughter's routines. "When she's dancing, she's happy and brings so much joy to everyone watching."