Beal, a 6-foot-3 guard, said it was the perfect workout for contrasting his offensive skills against Kidd-Gilchrist's defensive prowess.
"It really was," Beal said. "We both got after it, on both ends, even my defense and his offense. We're just competitors and we both went at it today.
"It was cool. We were laughing and joking around, but competing at the same time."
The Bobcats also worked out potential second-round picks Quincy Acy of Baylor, Bernard James of Florida State and Kris Joseph of Syracuse. Kansas' Thomas Robinson and North Carolina's Harrison Barnes have not worked out for the team yet.
Also Monday, the Bobcats hired St. John's assistant Mike Dunlap as head coach, league sources told ESPN The Magazine's Chris Broussard.
Beal averaged 14.8 points in 37 games as a freshman at Florida last season, earning first-team All-SEC and SEC All-Freshman honors. He also averaged 6.7 rebounds and 2.2 assists.
Some have compared him to Boston's Ray Allen because of his range and ability to create. NBA scouts also love his high basketball IQ, his fundamentals, his physical strength, and his rebounding ability for his size. He led all guards in the six major conferences in rebounding.
Beal has previously worked out for Washington and Cleveland, who own the Nos. 3 and 4 picks, and said he would not work out for any other teams.
"My agent and I have discussed that," Beal said. "Everybody's pretty much telling me I won't go any lower than that (No. 4) so I just limited myself to where I fit in best."
Kidd-Gilchrist averaged 11.9 points, 7.4 rebounds, 1.9 assists and 1.0 steal in 40 games as a freshman for Kentucky's national champions. He was chosen the South Region's Most Outstanding Player during the Wildcats' march to the title.
NBA scouts love his strength, toughness, heart and energy, particularly at the defensive end.
Kidd-Gilchrist took a spill during the workout and tweaked his back, but said he was fine afterward. He was to fly on to Cleveland and has already worked out for Washington.
"It's all about heart to me," he said. "Heart and winning basketball games. That's what I'm all about. It went good today. I'm a winner, and I showed them that today."
Both said they were not intimidated by Jordan's presence, but were honored to work out for him.
"I played in his high school game like a year and a half ago, so I was kind of used to seeing him sitting over there," Beal said. "But of course, when you see him walking in it's like, 'Oh, that's Mike.' But at the same time, when you're working out he's just another person in the gym. I talked to him a little bit and he said 'Good job' and I'll talk to him soon I guess."
Information from The Associated Press was used in this report.