Reginald VelJohnson Makes a Triumphant Return to Dancing With the Stars with a Nostalgic Family Matters Theme Song Performance trucc

We're gonna fill our house with happiness...

There was real love burstin' out of every seam in the Dancing With the Stars ballroom on Tuesday night.

During the season 33 finale, contestant Reginald VelJohnson returned to the dance floor with his pro partner Emma Slater to deliver one last number. Though he paid tribute to his breakout role in Die Hard earlier this season, he brought things home with a number to the Family Matters theme song, "As Days Go By."

The number featured a litany of back-up dancers bringing some serious showgirl fan action. As was the case throughout the season, Slater danced rings around VelJohnson while he stood and smiled with minimal movement.

VelJohnson is beloved for playing patriarch and police officer, Carl Winslow, on Family Matters for nine seasons from 1989 to 1998. Recently, VelJohnson's costar, Jaleel White, who played nerdy next-door neighbor, Urkel, revealed that he turned down an opportunity to reboot the show.

"I was offered the chance to do a reboot of Family Matters," he wrote in his memoir Growing Up Urkel, "but I turned it down for several reasons. The script would have been the same, and the show’s dynamics no longer work in the world that we live in."

The potential reboot was intended to offer opportunities for VelJohnson to return. "Carl and Harriette will stop by from time to time, perhaps two episodes out of the first season order," he recalled the producer saying of Laura's parents, who were portrayed by VelJohnson and Jo Marie Payton.

But at any rate, VelJohnson got the opportunity to bring Carl back in a way with his dance on the finale, which also recreated the opening credits of Family Matters, playing them over the dance. He got a standout moment as he smiled for the cameras while the title card reading "Starring Reginald VelJohnson" played over him.

VelJohnson and Slater were eliminated in what would've been week 4 of the competition, but was technically the second night of week 3. He was eliminated alongside Eric Roberts and partner Britt Stewart in Hair Metal night's double elimination.