ABC News' Sabrina Parise reports:

Madonna's classic moves, unforgettable songs and relentless energy are undeniably what make her the queen of pop.

For years, diehard Madonna fans have been showing her their love and Madonna, 54, is returning the affection.

Hours before her concert event, "Madonna: The MDNA Tour," airs June 22 on the EPIX network, the queen of reinventing herself invited 500 of her biggest fans to audition for a chance to work out with her, learning the movies the megastar uses to train for her mega-tours.

Madonna's fans got a firsthand glimpse at what it takes to get "MDNA ready," physically, mentally and spiritually, for a grueling world tour.

"Why was it important for you to show them what this was like, what you do, how you choreograph this routine," ABC News' Elizabeth Vargas asked.

"I think it's fun to get in a room and sweat with people," Madonna said. "I'm happy to share my workouts with everyone."

Vargas was shocked to see Madonna do all her choreographed dancing in stilettos.

"Yeah, we learn the choreography in sneakers and then we start practicing in heels that are not quite as high," Madonna said.

But that choreography drew criticism with the first act of her tour relying heavily on the use of guns. Despite that criticism, Madonna says she never would have left that part out of her MDNA Tour documentary.

"That would be like asking people to not have guns in action movies," she said. "I mean the thing is, guns don't kill people, people kill people. That whole first section of the show is like an action movie, and I was playing a super vixen who wanted revenge."

Madonna even gave a statement that she does not condone violence, and that her work is art and nothing more.

"But I know there was several movies that delayed release because of the shootings, for example, at Sandy Hook Elementary school," Vargas said.

"Well that's not going to change the situation," Madonna replied. "This all comes from fear and ignorance, and people not really raising their children, or not paying attention to what's going on."

But Madonna, for one, is keeping a close eye on her brood. The seven-time Grammy winner's four children are joining her on the road. It's a family affair, with daughter Lourdes, 16, working behind the scenes.

"She worked in the wardrobe department," Madonna said. "She had the very, very unglamorous task of undressing and dressing the male dancers. We had a lot of male dancers. It had its unglamorous moments, they're sweaty and disgusting and they're rude. But she took her job very seriously."

Madonna's son, Rocco, also loves being on tour with his superstar mom.

"He threw himself in front of me. He's the showboat in the family," Madonna said.

"You're going to have your hands full," Vargas joked.

"I already have my hands full," Madonna said.

When asked what kind of mom Madonna is, she replied, "Pretty strict. My daughter just got an iPhone. She's 16."

Seeing Lourdes grow up is "kind of uncomfortable," for the superstar mom, who says "she's still my little girl but she's also a woman."

As for Rocco, 12, she says, "He's a foot taller. He's getting facial hair. He's looking at girls' butts. It's terrible."

Vargas asked Madonna "a quick lighting round of questions," starting with the one thing she'd like to change about herself.

"My impatience," Madonna said.

"Can you eat everything?" Vargas asked next.

"I'm guilty of eating Magnum bars before I go to sleep at night," she replied.

"French fries, ever?" Vargas asked.

"Yes, I've had French fries for the last three nights," Madonna replied.

"Biggest love of your life?" Vargas said.

"That would be my children," she answered without hesitation.

The topic of whether the twice-divorced Michigan native will ever get married again, however, was answered much more indirectly.

"I might," she offered.

Retirement was also discussed.

"How much longer do you think you'll be doing this?" Vargas asked.

"I don't know. I've always danced and exercised," Madonna said. "I can't imagine not doing it. I'll be Martha Graham in my 90s doing contractions on the floor."