LOS ANGELES — “Dancing with the Stars” marked its 20th anniversary in grand style on Tuesday night. The celebration was packed with memorable moments as the show welcomed back many past contestants and professional dancers, along with former host Tom Bergeron, who made a special appearance as a guest judge.

Derek Hough, a former mirror ball champion turned judge, took on the task of choreographing the opening number. This dynamic routine featured six original professional dancers from the inaugural season: Alec Mazo, Ashly DelGrosso, Louis van Amstel, Jonathan Roberts, Charlotte Jorgensen, and Edyta Sliwinska. These veterans set the stage for an extravagant entrance by the current professional dancers, culminating in a stunning performance.

Who got perfect scores on week 9 of “Dancing with the Stars” Season 34?

The competition was fierce, with each couple introducing a new dance style. Robert Irwin and his partner Witney Carson dazzled with a foxtrot that earned them the season’s first perfect score of 40. During rehearsals, Robert received a morale boost via FaceTime from Britain’s Prince William, a fellow conservation advocate.

Equally impressive, Dylan Efron and Daniella Karagach achieved a perfect score of 40 for their Argentine tango, showcasing their exceptional chemistry and talent.

Not to be outdone, Alix Earle and Val Chmerkovskiy also secured a perfect 40 for their elegant foxtrot, while Whitney Leavitt and Mark Ballas matched that score with their captivating Argentine tango performance.

Who won the “Dancing with the Stars” relay dance?

The evening continued with a thrilling Relay Dance round, where couples faced off in direct competition, adding an extra layer of excitement to the night’s festivities.

To play into the 20th birthday reunion theme, instead of dancing with their professional dance partner, each celebrity was partnered with a former Mirrorball winner. One couple performed one half of a song, and the competitor completed the second. The judges then chose the winner of the relay, which meant three teams received two bonus points each, added to their total score.

The relay winners were Jordan Chiles with Season 4 winner Apolo Anton Ohno, Dylan Efron with Season 20 winner Rumer Willis, and Robert Irwin with Season 32 winner Xochitl Gomez.

Who was sent home on week 9 of “Dancing with the Stars” Season 34?

After combining the judges’ scores with the audience votes, it was Andy Richter’s turn to be eliminated.

He graciously gave all the credit for his success to his partner, Emma Slater, and said he certainly feels like a winner.

Next week, for the semi-finals, the couples will dance to the music of Prince.