It was a Fresh Prince of Bel-Air reunion on Dancing With the Stars Monday, Nov. 10 -- see an exclusive picture of Banks family members including Karyn Parsons, Tatyana Ali, and Joseph Marcell, reunited and showing support for Alfonso Ribeiro!

The Banks family, together again! Alfonso Ribeiro's TV family from The Fresh Prince of Bel-Air reunited Monday, Nov. 10, on Dancing With the Stars.

Ribeiro, 43, was supported on the latest episode of the reality dancing competition show by his on-screen siblings Karyn Parsons (Hilary Banks) and Tatyana Ali (Ashley Banks). Joining the trio to keep them in place was their costar Joseph Marcell, who memorably played the Banks family's beloved British butler, Geoffrey.

Ribeiro, who rose to fame on the '90s sitcom as the stuffy, cardigan-wearing character Carlton, told Us Weekly it was "really cool" to have his longtime friends there to watch him perform Monday night. "Joe's [in] all the way from England," he told Us. "Just having [all of] them here was wonderful. They're family to me. They'll always be family."

Ribeiro previously told Us that he and his former costars have remained close after the smash NBC sitcom ended in 1996. "My wife [Angela Unkrich] and Tati [Ali] are friends," he told Us, adding that his currently pregnant spouse was also pals with Parsons.

As for the show's megastar Will Smith? "Will and I talk and we all get together," Ribeiro told Us. "We all have such love for each other. Will actually rapped a birthday wish to [my wife] while we were all in Trinidad at Carnival for her birthday! He flew into Trinidad and hung out with us and we had a party and he got up and did a birthday rap for her. That's the kind of stuff we do for each other and it's just love — and that love is forever."

The group, though, will most likely opt out of a televised reunion. Ribeiro previously told Us: "I don't think it would happen simply because we've lost James [Avery]. When James passed, he was the heart and the center of the show. I believe, for us, it was something we enjoyed in the past and we'll let it stay there." (Avery died at age 68 last December.)

Ribeiro, currently one of the five last-standing competitors on Dancing With the Stars told Us Monday that he was "kind of in shock" to still be in the running. "Like, wanting to do the show for this long… it's like, we're achieving the goal," he gushed. "We're two weeks away from it all being over! And we're here and we're still a frontrunner and we're still delivering these dances. And my body's barely holding up, but it is! So we're doing it and it's so wonderful. I couldn't be happier."