Teresa Giudice's Now Friends With 'Prostitution Whore'

Teresa Giudice and the woman she called a "prostitution whore" on 'Real Housewives of New Jersey' are back in the friend zone ... and they brought their yoga mats with them.

Sources close to Teresa and Danielle Staub tell us ... the former foes connected for the first time since Danielle left the show in 2010 by taking a yoga class together. Teresa reached out to Danielle after she heard she was tweeting out support for her during her family and legal problems.

We're told Teresa fell in love with yoga -- something Danielle has done for a long time -- while she was in prison ... so it was the perfect idea for their reunion.

It seems like the friend date was legit too, because 'RHONJ' isn't filming right now ... which probably made things even more peaceful.