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'Saturday coffee shuffle': Kate Hudson kicks off weekend by dancing in her underwear to new Alicia Keys album

Published: 15:48 EST, 12 November 2016 | Updated: 19:08 EST, 12 November 2016

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She has her own collection of athletic wear, Fabletics, and a book about loving your body.

So it's no surprise that Kate Hudson feels comfortable dancing in her underwear, which the star showed in a video shared to Instagram on Saturday.

The 37-year-old could be seen dancing around in a teal camisole and matching underwear in a clip captioned: 'Saturday coffee shuffle.'

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Flaunting her figure: Kate Hudson showed off her toned physique as she danced in her underwear to Alicia Keys on Saturday

Kate went bra-less in the tiny, low-cut teal top, and sported no accessories during the morning dance video.

Her shoulder-length blonde tresses were styled in a center part, and she showed off her natural beauty, going make-up free.

The mother-of-two did flaunt a bright purple manicure, along with her enviably trim figure as she danced in the tiny getup.

Putting in the leg work! The blonde beauty showed off her toned pins as she recorded her little dance session on Instagram Stories

Kate danced in the video while holding onto a ceramic, pale blue coffee mug, at one point commenting: 'Loving my dance partner.'

As she danced while enjoying her coffee, More Than We Know, from Alicia Keys's new album Here played in the background.

The Almost Famous actress looked to be having a blast as she posed for the camera, playfully moving the coffee mug around the screen and in front of and out of her face.

Getting her caffeine fix! Kate danced while holding onto a ceramic, blue coffee mug

Playful: The star danced using her coffee cup as a prop, moving it in and out of frame

That same day Kate took to Instagram to gush about Alicia's new album, sharing a picture of the artwork.

'My beautiful friend @aliciakeys brought me to hopeful tears after I sat and listened to this album in its entirety,' she gushed.

Kate continued: 'She hands us her heart and uses her art to share a bigger message about courage, freedom, strength and love. HERE is worth taking the time to listen to from start to finish [heart emojis] #SaturdaySounds.'

Peek-a-boo! Kate at times hid her face behind her coffee mug

In good spirits: The star, who is currently working on biopic/dramas Richard Pryor: Is It Something I Said? and Marshall, looked to be enjoying a morning off

Kate is currently working on drama Richard Pryor: Is It Something I Said? - which chronicles the life of comedian Richard Pryer - along with Eddie Murphy and Oprah Winfrey.

The Pretty Happy: The Healthy Way to Love Your Body author is also set to star in drama Marshall, about Supreme Court Justice Thurgood Marshall.