Johnson, 40, and Herjavec, 53, stopped by Human Nature: Jukebox – which stars Australia’s top-selling pop vocal group – but didn’t just enjoy the show from the audience.
The newlyweds were brought on stage for the “Dancing with Human Nature” section of the show where they performed a dance-off reminiscent of their time as partners on Dancing with the Stars. To the joy of the audience, they danced the Twist and the Whip/Nae Nae – and PEOPLE has exclusive video of the performance.
Johnson actually has a long history with the members of Human Nature, which consists of brothers Andrew and Mike Tierney, Phil Burton and Toby Allen. She and and Mike Tierney were classmates as far back as preschool.