ABC
Danielle Garlock
May 09, 2016 10:05 PM

Leave it to Bruno Tonioli to orchestrate what may go down as the steamiest performance this season on Dancing with the Stars.

On Monday’s episode, each judge got to coach two couples, with Tonioli getting Nyle DiMarco and Peta Murgatroyd as well as Jodie Sweetin and Keo Motsepe. During the provocative dance, each of the dancers got a chance to partner with each other – including shirtless DiMarco and Motsepe. Sweetin also paired off with Murgatroyd.

“It was a lot of fun dancing with Keo,” DiMarco told PEOPLE after the competition. “Bruno asked me to dance with him, and Peta to dance with Jodie, and we’re like, ‘those are his rules, we’ll do it, and we’ll respect that. It’s a competition and you should be willing to do that.”

And the work paid off.

“I love Bruno’s bravery in getting the two couples to switch,” raved judge Len Goodman during the broadcast. “I thought it was a terrific job. I congratulate you, and I congratulate you.”

Goodman and judge Carrie Ann Inaba gave the dance 10s, while America awarded 9 points for a total of 29.

It was a daring performance, but the night wasn’t a happy one for everyone and unfortunately one of the couples had to go home.

Warning: Spoilers ahead for Monday’s DWTS.

Despite wowing the judges with all 10s, Sweetin and Motsepe found themselves at the bottom of the leader board and were sent home.

“I couldn’t ask for a better way to say thank you. I got to do this. I got to go out on all 10s! That’s amazing,” said Sweetin. “I start production on Fuller House tomorrow morning at 8 a.m. I’m going right into more work. This has been an absolutely incredible experience. I can’t thank you enough Keo.”

Read on for more highlights from the episode.

For Len, two 10s!
Team Len earned 10s from his fellow judges (and a 9 from America), with him briefly performing alongside Paige VanZant, Mark Ballas, Antonio Brown and Sharna Burgess.

“All we wanted to do was have fun,” Goodman said afterwords. Mission accomplished.

Team Carrie Ann Stuns
Last but not least, Carrie Ann Inaba‘s team took the stage, with Paige VanZant, Mark Ballas, Antonio Brown and Sharna Burgess showing magic happens when you put two star athletes on a team.

“Full of purpose and emotion,” said Goodman. “Carry on Carrie Anne! You’re terrific!”

They scored 10s from the judges and a 9 from America. Next week, it’s the semi-finals and the stakes could not be higher as two couples will be eliminated. Who are you pulling for?

Dancing with the Stars airs Mondays (8 p.m. ET) on ABC.

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