Why Jana Kramer, Jessie James Decker Waited Before Recording New Song (Exclusive)

For Jana Kramer and Jessie James Decker, working together was a shoe-in.

The two artists have been friends for more than a decade, and they teamed up for the cheeky new single “Do It In Heels,” available now.

“When I was writing this uptempo, girl, fun song, I’m like, ‘I don’t want it to just be me. I’d love to have another empowering, awesome female on the song with me,’ and of course Jessie was the only person I thought of for this,” Kramer tells PEOPLE.

“I heard it and I instantly loved it, and I was like, ‘I’m all in,'” Decker adds. “But she had sent it before we had our last babies.”

Kramer is mom to Jolie, 9, and Jace, 6, from her marriage to Mike Caussin, and she shares son Roman, 19 months, with husband Allan Russell. Decker shares her four children — Vivianne, 11, Eric “Bubby” Jr., 9, Forrest, 7, and Denver, 16 months — with her husband Eric Decker.

“We knew we were going to do this [song] for quite some time, and then we were finally ready to do it. I was like, ‘Let’s just wait until we’re done with the kids! We’ll have our legs back!’ ” Decker jokes.

In addition to being busy moms, Kramer and Decker also “share fans,” and Kramer says their anticipation for the song has been really exciting.

“Before we even announced this song, [they’d be] like, ‘When are you going to do a song with Jessie? You and Jessie should do a song together.’ So we have the same fans that would love for us to do something together, so this has been exciting to see their reaction as well,” she says.

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For Decker, being able to create something with a dear friend has been really rewarding.

“We’re in a very unique industry. We’re in a unique business,” she says. “And being able to find other women and great friends in the business to be able to vent or bounce ideas off of or just go through these adventures and journeys together and be able to have someone to talk to, to text, to call about certain things, it’s special to have.”

“Do It In Heels” is available now.