Normally, for a connection XXX-Europe (CDG)-YYY, no luggage to pick-up at CDG. They are transferred to your next flight. In your case, with a 23-hrs layover, I suppose your friends have a night to spend in Paris and, for this, they will want their luggage ? If this is the case, they just have to advise the check-in agent of the departure airport to just tag the bags to CDG