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The clip began with a spoof of "The Late, Late Show" host getting into some trouble at the White House.
"Hey there, I hear you are here for a 1:45 tour," Obama says when she gets into the car. "I had a little time on my hands, wanna go for a spin?"
"We were making honey there in the [Bey] Hive," she jokes. "Honey to put in our lemonade!"
During the clip, Obama explains it's "the people" around the White House that she's going to miss the most after she and the president leave the White House in January. Obama and Corden also have a fun, lengthy discussion about her Secret Service code-name "Renaissance" and Snapchat.
Around the 10-minute mark, Missy Elliott pops out of nowhere to sing "This Is For My Girls."
Watch the full clip above and see Obama's rendition of "Get Ur Freak On." #NoCursing!