and stepped into firefighters’ shoes for a day — literally!

The actors posted several photos and videos celebrating International Firefighters Day on May 4, as they got the chance to try on some firefighter gear and even practice some industry training moves courtesy of fellow actor ‘s .

Hargitay, 59, shared shots of the incredible experience with her 2.7 million followers, as she donned the gear and from what appeared to be at least a three-story-high training building.

In she could be seen getting out of a makeshift window while attached to a harness, as an instructor told her how to get down.

She followed his directions, and hesitantly moved her legs at first before taking bigger leaps.”So… This happened today. Wait for it …” she said in the caption for the video. “Thank you and What a day!”

She also posted several shots from what she called including a few photos of the New York City Fire Department headquarters. She additionally shared adorable snaps with her longtime friend Meloni as he kissed her on the forehead while on the ground.

For his part, Meloni, 62, posted a and showed some behind-the-scenes photos hanging out with actors Robert Burke, and Leary. He also posted a selfie in front of the FDNY statue and in full firefighter gear (including helmets) with Hargitay.

Several friends of the stars commented about their experience, including actress and comedian who wrote under one of Hargatay’s posts, “You are incredible my friend.” also commented, “Amazing.”

Under Meloni’s post, actress wrote, “so many faves in one post.”

The Leary Firefighters Foundation was founded by Leary in response to a tragic fire in Worcester, Mass. that claimed the lives of his cousin, a childhood friend, and four other firefighters, according to the organization’s website.

It’s a foundation that “funds equipment, vehicles, education, training, and technology for firefighters nationwide.”