Watch Alfonso Ribeiro Finally Reprise "The Carlton" on 'Dancing With the Stars'

"You gotta lead with your hands, … and then come over the top!"
'Dancing With the Stars'

Alfonso Ribeiro brought Carlton Banks to the ballroom floor during Monday night's episode of Dancing With the Stars, and this time, he wasn't rocking the now iconic Fresh Prince of Bel-Air side-to-side alone.

As the week's assignment had contestants recalling the best year of their lives, Ribeiro had partner Witney Carson help him channel his days onscreen as the geeky relative of Will Smith and the late James Avery in a jazz routine.

"Looking back at the character, Carlton, was someone I had a blast playing for six years — it was a wonderful time in my life, but it also stunted my career," he noted in his performance prepackage. "So yeah, a little bit of falling out of love with him, but definitely falling back in love with him because as time goes along, you're able to take an outside look and go, 'That was fun.' "

Ribeiro expanded his character's routine to Tom Jones' "It's Not Unusual" with his memorable open-mouth facial expressions, eliciting a roar from the in-studio crowd.

"I've been wanting to do this for them forever, and this is a moment I've dreamed about many a years. … I went back in time," Ribeiro told Erin Andrews afterward. "You gotta lead with your hands, … and then come over the top!" 

Watch the full routine below.

Twitter: @cashleelee