Britt Stewart may be the one teaching Eric Roberts how to ballroom dance — but he's got some lessons of his own to impart.

Stewart and her season 31 partner, actor Daniel Durant, surprised fans of Dancing With the Stars by announcing their engagement last December. The duo will tie the knot next year, and Roberts, who has been wed for 32 years to Eliza Garrett, offered Stewart some advice to the key to a successful marriage.

ABC

While Roberts initially laughed at cohost Julianne Hough's suggestion that he might have any insight to offer Stewart, the ballroom pro said she'd received plenty of wisdom from her 68-year-old partner. Including perhaps some bedroom tips?

"We are on Disney so I’m not gonna say his full advice," Stewart quipped. "But honesty is one, and I have to say it’s so full circle to be engaged, getting married, and then to be witnessing a 32-year-long marriage every single day."

The duo danced a foxtrot to Al Green's "Let's Stay Together" as their number on Monday's Soul Train Night, and Roberts dedicated the dance to his wife, who was present. Both judge Derek Hough and guest judge Rosie Perez praised Roberts for the sweet emotion of such a dedication.

In response to their comments, Roberts joked, "Well I paid him a lot of money for that. No, it was very moving especially [from] Rosie because I know her and I love her. She’s really kind."

Stewart and Durant competed together on season 31 of Dancing With the Stars in fall 2022, but the duo emphasized that their romance didn't begin until after the competition was over.  "I think, in that moment, we realized what we had felt for each other," Durant said previously, of realizing his feelings after he was eliminated. "It was more than friends and naturally we connected and started dating after that."

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The pair came in fifth place in their season, narrowly missing a spot in the season finale. They went public with their relationship on Valentine's Day 2023. Durant, who is deaf, is best known for his role in Oscar Best Picture winner CODA. Currently, he is starring in Deaf West's new production of Green Day's American Idiot in Los Angeles.

Roberts and Stewart earned a score of 24 from the judges on Monday, which will be combined with Tuesday night's scores from Hair Metal Night.