The 'Pete and Bobby Challenge' involved completing 50 pull-ups and 100 push-ups within a 10-minute timeframe.
The challenge, held at the Department of Defence, saw Hegseth finish in 5 minutes and 25 seconds, with RFK Jr completing it shortly after.
Both participants expressed their hope that Americans would take up the challenge to foster a 'healthy fighting force' and 'make America healthy again'.