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Another week, another intense dance duel. But after six weeks, it was finally time to say goodbye to a “Dancing With the Stars” fan favorite.

R&B music legend Gladys Knight was sent home after failing to impress the judges in the dance duel with her jive. It was bittersweet for head judge Len Goodman, who told the Motown legend last night, “If I could judge purely with my heart, you would be at the top of my leaderboard.”

Joining Knight and her partner Tristan MacManus in the dance duel were Disney star Roshon Fegan and his partner Chelsie Hightower, who were criticized by the judges for their jerky rumba. However, Fegan’s jive during the dance duel must have hit all the right moves because the judges crowned him the winner — but it wasn’t unanimous. Judge Carrie Ann Inaba voted to save Knight, while both Goodman and Bruno Tonioli voted to save Fegan.

The judges weren’t the only ones who were sad to see Gladys Knight go. Her dance partner said he was going to miss the legendary singer.

“I’ll probably miss Gladys as much as I miss Ireland when I’m here,” said MacManus, “And I really, really miss Ireland.”

As for the others, comeback kid Jaleel White and his partner Kym Johnson were the first to be saved. The couple, who survived the dance duel last week, currently hold the No. 2 spot on the leaderboard after their impressive Motown cha cha cha.

Meanwhile, Latin heartthrob William Levy and his partner Cheryl Burke were also saved from the dance duel. The judges criticized the duo after their ultra-sexy rumba ended up with them getting horizontal on the dance floor.

Top couple Katherine Jenkins and Mark Ballas — now affectionally called, The Drama Queens — were definitely safe after scoring a near perfect 39 during Motown week. Joining them were power couple Donald Driver and Peta Murgatroyd.

Melissa Gilbert and her partner Maksim Chmerkovskiy narrowly escaped the dance duel, along with Maria Menounos and Derek Hough, who found themselves in the bottom four.

Next week, the celebrity contestants and their professional partners will do their best to impress the judges during Classical Week.