Things got pretty hot during Week 8 of “Dancing With the Stars” -- especially when Season 21 contestant Carlos PenaVega and the longtime pro Val Chmerkovskiy decided to lose their shirts to perform a sexy salsa -- together. That’s right, the studs of the hit ABC series ripped off their shirts and took on a shuffle so sizzling that it deserved all 10s from the judges. (Too bad it wasn’t being scored!)

But what exactly led to the leading men swiveling their hips together? Well, Carlos, who decided to pay tribute to his idol Marc Anthony during "Icon Night," revealed during his Week 8 package that despite his Latin roots, he never performed the salsa before.

“I can’t believe I’m teaching a Latino how to salsa and I’m a white girl from Utah,” Witney Carson quipped after her partner dished he was inexperienced in the popular dance.

Carlos noted in his package that he felt “a lot of pressure” this week because he had never performed the salsa before -- never mind on live television. So, Val, being the generous pro that we all know and love, took it upon himself to give his competitor a few pointers on how to “wow” judges Carrie Ann Inaba, Julianne Hough and Bruno Tonioli with a super sexy move.

“He showed up last night during rehearsals and he was like, 'I just want to show you a little something',” Carlos told the show’s co-host, Erin Andrews, who recently returned from her assignment covering baseball's World Series. “He was shirtless, I was shirtless.”

That’s when Erin pulled the clip, which was cleverly captured by Witney.

“Oh, no … ” Carlos reacted as the five-second video played. “No!”

But Erin said what we were all thinking. “Nobody’s screaming no [to that]!”

“Dancing With the Stars” airs Monday nights at 8 p.m. EST on ABC.