It was Disney Night on “Dancing With the Stars” this week, and contestants did some fancy footwork to some classic Disney songs. Moana herself, Auli’i Cravalho, stopped by to perform “How Far I’ll Go” during Simone Biles’s contemporary dance number.

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Simone Biles’s Exotic Contemporary (Dancing With the Stars)

Watch Dancing With the Stars: Simone Biles’s Exotic Contemporary online.

“Dancing With the Stars” season nine winner Donny Osmond performed “I’ll Make a Man Out of You” as Normani Koredi and Val Chmerkovskiy danced a paso doble. Other highlights included dance numbers from “Beauty and the Beast” and “Frozen.” Watch some of their moves below and start practicing your own Disney dance steps.