If you're unwilling to spring for the up charge, you have two options: Walk back to Epcot's main entrance, take the monorail to the Transportation and Ticket Center and then transfer to the Magic Kingdom monorail. Or you can exit Epcot through the International Gateway between the United Kingdom and France pavilions, walk over to the Beach Club and take the bus from there.
Honestly, neither route is all that quick or efficient. Since Norway isn't too deep into World Showcase, my guess is heading back to the monorail would be a bit faster, but others might disagree.
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