There were 3 princesses I think, that lived in a castle and they would go dancing every night. Their beds lifted a staircase and they went to like an underground world. They would come back and have shoes messed up and there dad (the king) would try to find someone that could figure out were they were going. Anyone know the name of the movie? (it was a cartoon also)

It's a version of The Twelve Dancing Princesses aka The Worn-Out Dancing Shoes. Maybe this one: YouTube - GFTC Worn out Dancing Shoes P1-3 (http://www.youtube.com/watch?v=6O1LZviQBDM&feature=player_embedded)