After surviving off fan votes week after week, fan-favorite and comedian Andy Richter was eliminated during the 20th anniversary episode of “Dancing with the Stars” on Tuesday.

Along with Richter’s elimination, the 20th Birthday Party episode featured the return of former pros and mirrorball champions, a beloved former host as a guest judge and a special message from Prince William.

Not only did the couples perform their own individual dances, six of the seven celebrity contestants also competed in the Relay Dance Competition with special guest partners.

After finishing at the bottom of the leaderboard after the individual dances and losing his Relay Dance challenge, Richter was sent home. The comedian had landed at the bottom of the leaderboard every week this season but was carried through by fan votes each week.

Richter and his partner Emma Slater performed a quickstep to “Puttin’ on the Ritz” by Robbie Williams.

Each of the dances for the night were inspired by iconic freestyle performances from seasons past. Slater and Richter’s dance was inspired by Jordan Fisher and Lindsay Arnold’s freestyle in Season 25.

The four judges, including former host and guest judge Tom Bergeron, awarded the pair a score of 29 out of 40. Judge Carrie Ann Inaba gave Richter his first eight of the season.

During the episode, the judges awarded their first perfect score of the season, and then they did it again, and again and again, until four couples had received a perfect score of 40 out of 40.

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Robert Irwin earns first perfect score and gets a special message

The first couple to receive a perfect score this season were Australian wildlife conservationist Robert Irwin and his Utah partner Witney Carson.

The pair did a foxtrot to “Footprints in the Sand” by Leona Lewis, inspired by a freestyle performed by Irwin’s sister Bindi and Derek Hough during Season 21. The dance was a tribute to the Irwins’ father Steve, who died in 2006.

At the end of the performance, Bindi joined her brother and Carson on the ballroom floor as images of their father were projected on the floor in an emotional moment.

Before the pair performed, their video package showed them receiving a special video from Prince William of the United Kingdom, wishing them luck on their performance. Irwin works with William as an Earthshot ambassador and was supposed to be in Brazil with him, if he hadn’t made it so far in the competition.

“We’re missing you, Robert,” said William in the video message. “Whilst your twinkle toes are going off elsewhere, I need you down here.”

He then addressed Irwin’s pro partner Carson, saying, “You need to get him in as much glitter as you can.”

Excitedly, Carson exclaimed, “I can’t believe he just said my name!”

The other couples who earned perfect scores

Dylan Efron and Daniella Karagach

The second pair to receive a perfect score was reality TV star and content creator Dylan Efron and his partner Daniella Karagach.

Efron and Karagach performed an Argentine tango to “Ain’t No Sunshine” by Bill Withers. Their dance was inspired by Milo Manheim and Witney Carson’s freestyle from Season 27.

Alix Earle and Val Chmerkovskiy

Social media personality Alix Earle and her pro partner Val Chmerkovskiy were the third couple of the night to receive a perfect score of 40 from the judges.

The pair performed a foxtrot to “Singin’ in the Rain” by Matthew Morrison. The performance was inspired by Nev Schulman and Jenna Johnson’s Season 29 freestyle.

Whitney Leavitt and Mark Ballas

The last couple to perform during the first round of competition were Utah influencer and “The Secret Lives of Mormon Wives” star Whitney Leavitt and partner Mark Ballas. They performed an Argentine tango to “Cell Block Tango” from “Chicago the Musical.”

Their dance was inspired by a freestyle by Gabby Windey and Val Chmerkovskiy in Season 31.

Leavitt and Ballas were the fourth couple of the night to receive a perfect score of 40 out of 40.

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How the other couples did

Jordan Chiles and Ezra Sosa

Jordan Chiles, an Olympic gymnast, and her Utah partner Ezra Sosa performed a cha-cha to “Get Up” by Ciara featuring Chamillionaire.

Their dance was inspired by Wayne Brady and Witney Carson’s freestyle from Season 31.

Score: 37/40

Elaine Hendrix and Alan Bersten

Film and TV actress Elaine Hendrix and partner Alan Bersten performed a salsa to “It Takes Two” by Rob Base & DJ EZ Rock.

Their salsa was inspired by Mario Lopez and Karina Smirnoff’s freestyle from Season 3.

Score: 36/40

Relay Dances

After performing their individual dances, the couples participated in the Relay Dance competition. In this challenge, one couple performed the first half of a song and then a second couple completed the song. The judges decided a winner for each relay, who earned two bonus points.

This year, the relay round came with a twist: For the first time ever, the celebrity contestants danced without their pro partners. Instead, they were joined by former celebrity champions of the show to perform a quickstep, Viennese waltz or jive.

Because they finished at the top of the leaderboard last week, Whitney Leavitt and Mark Ballas received immunity from the Relay Dance competition and did not participate in it. They automatically received two bonus points as part of their immunity.

Here’s a look at each of the Relay Dances:

Alix Earle vs. Robert Irwin

Celebrity contestants Irwin and Earle were paired against each other for the relay, each performing a jive to “Dance with Me Tonight” by Olly Murs.

Irwin was paired with Season 32 champion Xochitl Gomez and Earle danced with Season 33 champion Joey Graziadei.

Irwin and Gomez ended up winning the relay, giving Irwin two bonus points.

Dylan Efron vs. Andy Richter

Dancing without their pro partners, Efron and Richter were paired against each other, performing a Viennese waltz to “Earned It” by The Weeknd.

Efron was paired with Season 20 winner Rumer Willis and Richter danced with Season 29 champion Kaitlyn Bristowe.

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Efron and Willis won the relay, earning Efron two bonus points.

Elaine Hendrix vs. Jordan Chiles

Paired against each other for the first relay of the night, Hendrix and Chiles both performed a quickstep to “I Get a Kick Out of You” by Michael Bublé.

Chiles was paired with fellow Olympian and Season 4 winner Apolo Anton Ohno and Hendrix danced with Season 24 champion Rashad Jennings.

Chiles and Ohno won the relay, earning Chiles two bonus points.

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