October 12, 2010 04:35 PM

Self-proclaimed modest mom Bristol Palin finally got sexy with her pro dance partner Mark Ballas on Monday night’s Dancing with the Stars – even ripping his shirt off during their routine – all while mom Sarah Palin and dad Todd Palin looked on!

“Her and my dad are both telling me, ‘Bristol you gotta get into character. You gotta stay in character if you want to stay around,’ ” Bristol said her mom told her. “And that’s what I did this week.”

Bristol also told PEOPLE, “Mark knows how to talk me up and make me feel good about myself.”

But the dancing pair’s rumba left DWTS judges wanting more: The couple only got 32 out of 60 points for their routine.

Ballas still has high praise for his hip-swiveling partner, though, reminding her, “Everyone said, ‘Wow you were really sexy this week.’ ”

RELATED: Bristol Palin Promises to Get ‘Sexy’ for DWTS Next Week

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