The Best, Worst and Most Oops Moments of the Season 34 Finale

Another season has come to an end on Dancing with the Stars!

The season 34 finale brought a lot of 10s and a lot of tears as the final five contestants, Robert Irwin, Alix Earle, Dylan Efron and Elaine Hendrix, competed for the Len Goodman Mirrorball Trophy.

The contestants were asked to take on three dances: the Judges’ Choice round, the Instant Dance round and the Freestyle round. Along the way, there were plenty of surprises from past contestants, past winners and a few celeb guests.

See the best and worst moments from the ballroom in PEOPLE’s roundup of the highs, lows, and yikes from the Dancing with the Stars season 34 finale.

Best: Eliminated Contestants Returned to the Ballroom

The finale kicked off with the troupe dancers introducing all of the eliminated contestants, including Whitney Leavitt, Corey Feldman, Baron Davis, Lauren Jauregui, Hilaria Baldwin, Scott Hoying, Danielle Fishel, Jen Affleck and Andy Richter.

Early into the evening, Jen, Lauren, Scott and Hilaria all took to the floor and performed with their former partners, Jan Ravnik, Brandon Armstrong, Rylee Arnold and Gleb Savchenko, respectively, to Lady Gaga’s “Applause.” While Andy, Whitney and Danielle took the floor with Emma Slater, Mark Ballas and Pasha Pashkov to  “I Don’t Dance” by Alexander Jean.

Worst: Alfonso Got an Unexpected Accessory

After Andy performed with fellow contestants, he gathered with them around Alfonso as he announced the next dancer in the competition. As the co-host was speaking, Andy got funny and started pulling fake hair off of his shirt and placing it on Alfonso’s shoulder. Looking disgusted, Alfonso joked and shouted to him, “You nasty!”

Best: Dylan Went Shirtless

For the Judges’ Choice round, Dylan and Daniella Karagach received coaching from Bruno Tonioli, who told Dylan to get “out of his shell,” and urged him to be the “ultimate leading man.”

That is exactly what Dylan did. Quickly into the routine to “Stampede” by Alexander Jean featuring Lindsey Stirling, Daniella ripped the reality TV star’s shirt off.

Once it was time to hear from the judges, Bruno said, “Let’s be real, that torso, Michelangelo himself could not have sculpted a better shape.” Adding, “Actually I’m speechless.”

Dylan remained shirtless through the rest of the scoring process.

Worst: The Crowd Booed at Carrie Ann

After Dylan hit the floor for his Judge’s Choice round, Carrie Ann was ready to offer constructive criticism to help him with the final two rounds — but the crowd was not pleased. Carrie Ann commended Dylan on how far he’s come, but said his hands “got a little flat” at times, which was met with an uproar of boos.

Meanwhile, when Robert faced the judges’ panel after his first round, Carrie Ann started off by telling him it was “amazing” and “wonderful.” Then she added, a “but,” and the crowd was upset and immediately started to boo her. “I’m sorry but look. This trophy is what they’re competing for tonight and I don’t want to give it to anybody that doesn’t absolutely deserve it,” she said before she profusely apologized.

Best: Jordan Defended Carrie Ann

Once Jordan was done with her first dance, Carrie Ann applauded her intensity, but said it was “a little too strong,” and the crowd let out an outcry.

But Jordan wasn’t fazed; she thanked Carrie Ann for her critiques. “I have to give credit to Carrie Ann, because as a woman, it is hard to really express who you are and what you’re doing.”

“So Carrie Ann, keep doing what you’re doing. I will always stand by you,” she said. “You make me feel so much better about myself.”

After Jordan’s dance, the show’s announcer told the live audience during a commercial break that the occasional boo is okay, but to be nice.

Best: Dylan Earned His First Perfect Score

During the Instant Dance round, Dylan drew a Foxtrot to “Ordinary” by Alex Warren — and earned his first 30/30. While the previous week he scored a 27/30 for his “I Would Die 4 U” tango and 28/30 for his “Kiss” cha-cha, it was the finale Foxtrot that convinced the judges to give him 10s.

“That was unbelievable,” Carrie Ann told him, adding that he was “leading like a leading man!”

Derek gave him high praise, saying it was “one of the best Foxtrots from a man, ever!”

Best: Jan and the Troupe Embraced ‘Life of a Showgirl’

The former dancer for Taylor Swift’s Eras Tour hit the floor with Jenna Johnson, Hailey Bills and Britt Stewart. The group performed a contemporary dance to Swift’s latest hit, “The Fate of Ophelia.”

Oops: Instant Dance Round Caused a Couple Missteps

After Elaine drew a Quickstep to “You Can’t Hurry Love” by The Supremes, she was named “The Quickstep Queen” by Derek after her performance. But the judges did address that she had a few missteps, with Bruno saying she had “quite a few foot faults.”

Meanwhile, Robert was tasked with a Cha Cha to “Cake by the Ocean” by DNCE. He confessed that he was hoping not to get the Cha Cha; unfortunately, he had a brief misstep in the routine. But he and Witney laughed off the mistake and still earned a perfect score.

Oops: Witney’s Family Is Now Robert’s Family

During a moment when the camera panned to the audience, Witney’s family was cheering from the sidelines. But the screen’s chyron labeled her family as “Robert’s Family.”

Best: Joey Graziadei Didn’t Miss a Step

Season 33 champion Joey returned to DTWS to dance to “Tanguera” by Fabio Hager Sexteto with his former partner, Jenna Johnson. During their opening package, Joey confessed, he’s not ready to hand the trophy over, “but we’re gonna have to.”

“I’ve really missed this,” Jenna said during the practice, while Joey said in his confessional, “I just want to go out there and shine.”

It looked like no time had passed as he expertly executed the passionate dance.

Best: Elaine Vied for a Broadway Role

Elaine performed an adapted routine to A Chorus Line’s opening number, “I Hope I Get It,” with help from close friend Lisa Ann Walter, as well as former contestant Andy Richter.

Her theatrical efforts were rewarded, with Bruno celebrating her performance, saying, “That really was a deliciously crafted theatrical treat. You did a fantastic job since day one.”

Best: Normani Maked Surprise Appearance Alongside Jordan

For the final performance of the evening, Jordan performed a freestyle to “Motivation” by Normani — who then joined her on stage!

Best: Robert Took Home the Mirrorball

After the show received a record number of votes, 72 million total, which is over double the amount of votes from the season 33 finale, the winner was announced.

Elaine placed fifth, Dylan in fourth, Jordan in third place, and Alix was named runner-up with Robert taking home the prize.

Celebrating the moment Robert said, “My sister [Bindi] said it best, thank you for changing my life.” Witney added how grateful she was to Robert, saying, “I already feel like I won with him as my friend and I can’t thank you enough.”