Circular object seen in dutchess county ny

my friend and I were outside on her back deck, we were dancing and fooling around when we looked at the sky and saw something circular looking flying through the sky very fast. it had three lights on it, red white and yellow. it was totally silent. my friend said she heard beeping. it went low into the trees and we couldn't see it anymore. then another one flew across the sky, faster than the first one, following the same path. my friend says she saw a third however I didn't. we think it was a ufo.