Kate Seal and Pat Longford, both 67, began fundraising for Children in Need in 1985, after seeing how the appeal supports local charities.
Each year, the twins would dress up and walk across the borough and beyond and their efforts have raised more than £34,000.
The Children in Need Appeal was launched in 1980, devoted to raising money for charities working with children in the UK with Sir Terry Wogan as the presenter. Since the appeal was launched over £1bn has been raised.
Alex Forrest, 27, of Birkwood Avenue, Cudworth, contacted the BBC to tell them how hard the ladies had worked over the years so they could get some recognition for their work.
Initially, the BBC were going to send the ladies a certificate to thank them for their effort, but on Monday they received a phone call to say they were being whisked off to London to appear on the prime-time TV show, rubbing shoulders with ex-JLS star Marvin Humes and his wife, Rochelle Humes, of girl band the Saturdays.
Over the years the women have dressed up as the Bill and Ben the Flowerpot Men, The Incredibles, and this year they have dressed up as Ninja Turtles.
The images of the women dressed up as different characters was aired on the show, and they were each gifted with a large Pudsey Bear dressed as a turtle and a collection bucket.
The twins however believe that this may be the last year they will be able to fund-raise because Pat, of Cherry Tree Street, Hoyland has been diagnosed with lung cancer.
“I fell last year and broke a bone in my hand and two ribs,” said Pat
“I went to hospital and when I underwent tests I was diagnosed with cancer in January. I made the difficult decision to decline treatment.
“I wouldn’t have been able to fund-raise this year if I had treatment and I wouldn’t have even known I had the disease if I didn’t have a fall. I’m determined to raise as much money as possible and make the best out of the situation and enjoy life.”
Alex said: “I’ve seen how hard and dedicated these ladies have worked to raise money for the appeal and I’m so glad that they received recognition for their work on national TV.”
Tomorrow the women will be raising money by walking from Chapeltown to Wath, then Wombwell, Barnsley, Hoyland Common and Elsecar before finishing at the Knave and Kestrel in Hoyland at around 8pm.
Their appearence on the One Show can be viewed here.