The "Fresh Prince of Bel-Air" star finally busted out his signature "Carlton" moves on "Dancing With the Stars" on Monday night, and it was everything we were hoping for.
The 43-year-old actor famously starred as Carlton Banks on the hit sitcom from 1990-1996 alongside Will Smith, winning fans over with his cardigans, khakis and arm-swinging dance moves.
"Carlton was someone I had a blast playing for six years," he said. "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."
Wearing a sweater and bow tie, Alfonso and his dance partner Witney Carson let loose to the tune of Tom Jones' "It's Not Unusual."
The best part? It looked like they were dancing in his "Fresh Prince of Bel-Air" living room!
Check out the clip above to see them break into the Carlton -- complete with flailing arms, snapping fingers and swinging hips!
But in addition to the Carlton, fans got to see Alfonso's on-screen sister, Tatiana Ali. The actress attended the show to support her former costar.
"I was there when @alfonso_ribeiro came up with The Carlton. It was not in the script!" she tweeted after the show.
Click "Launch Gallery" below to see what the rest of the "Fresh Prince" cast is up to now!