VIDEO Watch Alfonso Riberio do The Carlton on Dancing With the Stars

Alfonso Ribeiro delivered on his promise to do The Carlton at some point on Dancing With the Stars last night — and in epic style!

Before his routine, Alfonso explained in an interview that playing Carlton Banks for so many years pigeonholed him as an actor and probably stunted his career. Still, he has happy memories when looking back at the show… And the dance he popularized.

“I love the Carlton dance. I love how it makes people feel. I certainly don’t do it a lot. But I love the fact that people have this nostalgic look at that dance.”

With the stage set up like the living room from the Banks’ house in Fresh Prince of Bel Air, Alfonso and partner Witney Carson performed a jazz routine to It’s Not Unusual. Midway through, she gave him a little peck on the cheek, which led to him breaking out in his legendary move.

Watch Carlton do The Carlton here. The dance routine starts around the 1:30 mark.

After getting praise from the judges for his “Broadway standard jazz” and perfect scores all around, Alfonso said it was a treat for him to perform.

“I’ve been wanting to do this for them forever, and this is a moment I dreamed about for many a years,” he said. “I went back. I went back in time.”

He then led the rest of the cast in a spontaneous round of The Carlton, instructing them that the key is swinging your hands “over the top.”