Jenn Tran, Joey Graziadei, Ilona Maher - Agriturismoleduefontane

“Dancing with the Stars” went under the sea, through the jungle and to ancient Greece on Tuesday. It was Disney Night.

And for the first time this season, the team dance round returned.

“The Bachelorette” University of Wisconsin-Madison graduate Jenn Tran and her pro partner Sasha Farber performed a rumba to “Kiss the Girl” from “The Little Mermaid.”

“I think we should reenact the 'Little Mermaid' scene,” Farber told Tran. “It’s so iconic.”

“Oooh, okay!” Tran replied.

Cut to a beautiful, sunny day on the water with the two of them together on a pedal boat.

“Babe, this is our first date,” Tran told Farber.

“It’s not a date,” he refuted.

“Are you going to try to kiss the girl today?” Tran asked.

When she asked Farber what he thought of their partnership, he said that from the first day they met, he felt like he had known her for a “long, long time.”

“I have a lot of faith in you,” Tran said. “I think it really shows off on the dance floor.”

“You really make this competition so much fun for me,” Farber said to Tran. And whether he tried to hold her hand or not – the decision is his.

Farber said he wanted her Rumba to be “elegant, classy, beautiful – everything she is.”

Tran, who grew up at Disney World with her family, remembered going to Ariel's cave to meet the mermaid princess.

“She had this long, red, beautiful hair. And she signed my autograph book and even remembered my name,” Tran said. “It was such a beautiful childhood memory.”

In fact, Farber's “Dancing with the Stars” began with him playing a crab – like Sebastian, Ariel's advisor.

Tran, who portrayed Ariel, brushed her fake red curls with a fork and sat in a boat in the ballroom in the moonlight. Farber, er Prince Eric, helped his partner out of the boat, then the two sailed into their sweet and delicate dance.

Did Farber kiss the girl? At the very end on the forehead.

What did the judges think of Trans and Farber's performance?

Here's a look at how the other contestants fared, how the team dances went, and who was sent home:

Judges' feedback for Jenn Tran and Sasha Farber on Dancing with the Stars, Week 5

“To be honest, I’m a little disappointed that we didn’t get the crab Sasha,” said judge Derek Hough. “Is it weird for me to say I ship this? I don't know, whatever. OK. Let’s move on.”

He called the dance beautiful and said he sees Tran getting better every week.

“I think the confidence that comes out of your body when you move is amazing,” Derek said.

However, when Tran performs rhythm dances again, Derek instructed her to focus on her chest rather than her hips “to make the movement a little more fluid.”

“Oh my love, in the water or on land, always a princess,” judge Bruno Tonioli told Tran.

He was a fan of the sophisticated, classic feel of their rumba. It was gentle and romantic with a “wonderful, gentle flow,” he said.

However, he pointed out that she had slightly botched an overhead turn, causing her to lose her balance slightly.

“That was your best dance yet,” said judge Carrie Ann Inaba.

Tran is really learning the technique, Inaba said, and she can see that she's putting in so much effort.

When Inaba mentioned that “issues still remain” – including being off on a turn and slightly out of timing – she was met with boos from the audience.

“I thought it was really special,” she said. “I deducted a point because of the mistakes, but I thought it was really special.”

Tran and Farber received 24 out of 30 points, including eight from all three judges. While some of her fellow actors chanted that they should kiss, that didn't happen.

“If we get a nine, maybe — maybe,” Farber joked.

“Tell people to leave them alone,” said co-host Alfonso Ribeiro. “Leave her alone!”

How did the other Dancing with the Stars contestants fare in Week 5?

Olympic gymnast Stephen Nedoroscik with professional dancer Rylee Arnold

Dance: Charleston
Song: “A Star Is Born” from “Hercules.”
Score: 24/30

Former “Bachelor” Joey Graziadei, who also has ties to Wisconsin, with professional dancer Jenna Johnson

Dance: Samba
Song: “Trashin’ the Camp” from “Tarzan.”
Score: 25/30

TV star Chandler Kinney with professional dancer Brandon Armstrong

Dance: Paso Doble
Song: “We Own the Night” from “ZOMBIES 2”.
Score: 27/30

“Real Housewives of Atlanta” star Phaedra Parks with professional dancer Val Chmerkovskiy

Dance: Jazz
Song: “Cruella de Vil” from “101 Dalmatians.”
Score: 24/30

Former NFL player Danny Amendola with professional dancer Witney Carson

Dance: Jazz
Song: “Bye Bye Bye” from Deadpool & Wolverine.
Score: 27/30

Former NBA star Dwight Howard with professional dancer Daniella Karagach

Dance: Tango
Song: “When Can I See You Again?” from “Wreck It Ralph.”
Score: 24/30

Olympic rugby star Ilona Maher with professional dancer Alan Bersten

Dance: Jazz
Song: “Surface Pressure” from “Encanto.”
Score: 25/30

The team dance competition returns for the first time this season

“In this round, each team must work together to receive one of 30 team scores from the judges, which will be added to their individual scores from the first round,” explained co-host Julianne Hough.

She also noted that the stars had to perform part of the dance without their professional partners.

Team Roar consisted of:

Dwight Howard (team captain) and Daniella Karagach
Danny Amendola and Witney Carson
Stephen Nedoroscik and Rylee Arnold
Phaedra Parks and Val Chmerkovskiy

They danced to “I Just Can't Wait to Be King” from The Lion King and received a score of 24/30.

Team Goofs consisted of:

Ilona Maher (team captain) and Alan Bersten
Joey Graziadei and Jenna Johnson
Chandler Kinney and Brandon Armstrong
Jenn Tran and Sasha Farber

They danced to “I2I” from “A Goofy Movie” and received a score of 27/30.

Who won immunity in next week's dance-offs?

Kinney and Armstrong won immunity at next week's dance-offs. They also start the week with three bonus points.

Who was eliminated from Week 5 of “Dancing with the Stars” on Tuesday night?

Live voting was combined with the judges' scores – from both partner and team dances on Tuesday – to determine who would be eliminated.

Parks and Chmerkovskiy were eliminated at the end of the episode.

How to watch season 33 of “Dancing with the Stars.”

The show will be simulcast on ABC and Disney+ on Tuesdays at 7pm CT. It's available next day on Hulu.