"Marc has been someone who is extremely important to me," PenaVega tells PEOPlE

By Adam Carlson
Updated November 01, 2015 04:15 PM

This week on Dancing with the Stars, Carlos PenaVega will salsa dance to Marc Anthony‘s “Valié La Pena” – so who better than Anthony himself to give advice about the dance, for the first-time salsa performer?

PenaVega and his partner, Witney Carson, stopped by Anthony’s performance in Phoenix, Arizona, for just those tips, in a PEOPLE exclusive clip.

“Marc has been someone who is extremely important to me,” PenaVega tells PEOPLE. “He inspired me to not only pursue a solo career in music but also to get back in touch with my roots.”

When PenaVega tells Anthony he’s never done the salsa, Anthony quickly replies, “Yeah, but it’s in your blood, bro! It’s in there somewhere.”

“That’s what I said!” Carson adds.

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Anthony’s advice is simple: “Relax into it. You learn whatever you need to learn and then let it go, then just feel it.”

“This week on Dancing with the Stars is all about inspirational icons, and I couldn’t have thought of a better person to pick than you,” PenaVega tells Anthony, who returns his admiration.

“I’m overwhelmed that you’re here,” he says, adding, “It means so much to me. I told you anything, anytime, anywhere – anything you need, it’s all yours.”

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

Reporting by PATRICK GOMEZ