This season, the reality show reunited Hilton, 26, and Richie, 25, as drama camp counselors after they feuded and filmed their parts separately for the previous season.
"In this last escapade, Paris and Nicole write their own play in tribute to their decades-long friendship, enlisting the help of celebrity counselor Sally Kirkland to lead the production," E! said in a release.
Kirkland leads the pair and their campers through a "crash course in Acting 101" as they stage the play, which includes the actress playing the role of Richie's father, pop star Lionel Richie, E! said.
The high-living Hilton and Richie have routinely made headlines with their behavior and the legal repercussions that followed.
Last week, Richie, 25, was sentenced to nearly four days in jail after pleading guilty to a misdemeanor charge of driving under the influence of drugs. Richie, who is rumored to be pregnant but has refused to comment, must complete her jail time by Sept. 28.
Richie had a previous DUI conviction, in June 2003, involving alcohol.
Hotel heiress Hilton spent 23 days in jail for violating probation in an alcohol-related reckless driving case. She was initially released after three days for medical reasons but a judge intervened and she was sent back to jail after one just one night out.