Credit: Kevin Mazur Archive 1/

While Beyonce is still getting used to motherhood just four days after Blue Ivy's birth, her Dreamgirls costar Jennifer Hudson has been there, done that and is ready to offer advice!

Welcoming now 2-year-old David Otunga, Jr., in 2009, Hudson, 30, knew just what her top parenting tip would be.

"Girl, get your sleep!" Hudson said during a Good Housekeeping press event Tuesday in New York City. "We talked about this when I had my munchkin. It goes so fast. She's going to look up and [Blue]'s going to be six months. Next thing you know, she's going to be walking."

Hudson suggests her former costar relish even the smallest motherhood moments, because they'll pass quickly. "Embrace it. Especially because of the lives we live, a lot of times other people have to care for themselves and you have to have that mommy time," said Hudson.

On Tuesday, Beyonce and hubby Jay-Z, 42, brought little Blue Ivy home from New York City's Lennox Hill Hospital. "Her birth was emotional and extremely peaceful, we are in heaven," the new parents told Us Weekly in a statement.

And their little one has already made her entertainment debut! Jay-Z was so overwhelmed by his first child Saturday that he immediately hit the studio to record "Glory," a touching song about the couple's struggle to conceive and the joy of parenthood.