"Dancing with the Stars" marked 20 years of toe-tapping fun Tuesday night with a shock elimination, a fan favorite judge back in his seat and a royal cameo.

As the reality competition celebrated two decades on the air, stars of one of its most popular seasons yet spared no sweat. Several ballroom dancing pros from the inaugural "DWTS" season returned to dance an opening number and Tom Bergeron, a one-time judge on the ABC show, was back to dole out scores for the first time in five years.

Scrambling the format to honor the occasion, each of the remaining couples from Season 34 performed one dance set to the same song as a past "DWTS" freestyle routine, and one dance which paired the current celebrity contestant with a former mirrorball champion.

Prince William makes 'Dancing with the Stars' cameo with Robert Irwin

Robert Irwin has been riding a high all season. Irwin, the youngest child of late wildlife conservationist Steve Irwin, has fast become a fan favorite, charming viewers with his affable temperament and his surprisingly sharp dance moves.

The Nov. 11 show was no different. He and partner Witney Carson nabbed the season's first perfect individual score, dancing to "Footprints in the Sand" by Leona Lewis in tribute to their father, the same tune older sister Bindi Irwin used as her freestyle song when she competed in 2015.

Irwin also got a special boost from Prince William, who sent a video message to the contestant with whom he has teamed up for environmental efforts.

"We're missing you, Robert," William said in the video. "Whilst your twinkle toes are going off elsewhere, I need you down here." William then told Carson, "You need to get him in as much glitter as you can."

Who went home last night on 'Dancing with the Stars?'

After defying the odds, it was finally time for the "fandys" to bid their season fav adieu.

Andy Richter and his partner Emma Slater were eliminated during the Nov. 11 episode, scoring 29/40 for their individual dance.

The remaining contestants, and their scores on the leaderboard, are:

  • Whitney Leavitt and Mark Ballas: 42
  • Dylan Efron and Daniella Karagach: 42
  • Robert Irwin and Witney Carson: 42
  • Alix Earle and Val Chmerkovskiy: 40
  • Jordan Chiles and Ezra Sosa: 39
  • Elaine Hendrix and Alan Bersten: 36

This article originally appeared on USA TODAY: Who went home on 'Dancing with the Stars'? Prince William makes surprise appearance

Reporting by Anna Kaufman, USA TODAY / USA TODAY

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