"Dancing With The Stars" 2016 continued Oct. 10 on ABC with a night of ballroom action inspired by the celebrity contestants' most memorable years of life. Although all nine celebs scored big with judges Julianne Hough, Carrie Ann Inaba, and Bruno Tonioli, few had a bigger evening than "Taxi" alum Marilu Henner, whose Viennese waltz with professional partner Derek Hough spurred a hug-fest and a hearty helping of praise.

Derek Hough and Marilu Henner have a heart-to-heart

The duo's rehearsal package began as Henner confessed that she feared disappointing the six-time Mirrorball Trophy winner. Hough was quick to dismiss the possibility, and said he wanted the 64-year old actress' time on "DWTS" 2016 to be solely a positive experience. 

From there, Henner named 1978 --which she termed both "the best and worst of times"-- her most memorable year of all, as it featured both the death of her mother and the beginning of her journey on "Taxi." Henner wanted her performance to honor her mom, and Hough shared his plans to stay out of the way and let Henner shine during the live show.

Henner, Hough score a season high

Henner looked completely free and at ease as she coursed through her "Surprise Yourself" Viennese waltz with Hough. The dance was so good that Inaba jumped up from her seat to give her a hug, which in turn compelled Julianne Hough to do the same. In the background, the always feisty Italian Tonioli gave Derek Hough a quick embrace as well. Inaba called Henner "a different person" and praised her for allowing herself to be great. Julianne Hough said she was "so happy" for her, and Bruno called her "a total and utter revelation." 

The group rewarded Henner and Hough with a trio of nines, for a "Dancing with the Stars" 2016 week five total of 27 points. The score was good enough to land them in a two-way tie with reality TV star Terra Jole and Sasha Farber for second place on the weekly "DWTS" leaderboard.

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Only IndyCar driver James Hinchcliffe and Sharna Burgess --who scored a near-perfect 29 points-- earned a higher placement.

Following the show, Marilu Henner hit Twitter to share her feelings with followers and ask for support. She wrote "So happy! I love my teacher #derekhough I love #DWTS & I love our fans! Plz vote 4 us. We aren't safe if you don't vote! Xoxo 800-868-3408"

To see if Marilu Henner and Derek Hough evade elimination --and to see them dance a Latin Night routine-- tune in to the next episode of "Dancing with the Stars" 2016 on Oct. 17.