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September 22, 2015 12:15 PM

Alfonso Ribeiro is about to experience Dancing with the Stars from the other side of the ballroom.

The season 19 champion is slated to become season 21’s first guest judge, PEOPLE can reveal exclusively.

“Guest judging on Dancing with the Stars is like returning home for me but with the big twist of being on the other side of the judge’s table, which is both a relief and exciting,” Ribeiro, 44, says of hosting TV Week on the show, where each couple will pay homage to iconic TV shows.

The new host of America’s Funniest Home Videos – a role he stepped in to after DWTS co-host Tom Bergeron – was previously best known for dancing The Carlton on Fresh Prince of Bel-Air star, but after taking home the Mirrorball Trophy in 2014 with pro dancer Witney Carson, the dad of three is now also widely known for winning over America after, well, dancing The Carlton on DWTS.

RELATED VIDEO: Alfonso Ribeiro Is the New America’s Funniest Home Videos Host

Ribeiro’s episode of Dancing with the Stars airs Monday at 8 p.m. ET on ABC.

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