Petra Murgatroyd and Gilles Marini Credit: Adam Taylor/ABC via Getty Images

Gilles Marini is making quite the impression on Dancing With the Stars: All-Stars this week.

On the Oct. 22 performance show, the hunky actor delivered a sexy rumba with Peta Murgatroyd that made judge Carrie Ann Inaba fall off her chair, and on the Oct. 23 episode, Marini stripped down to dance in his skivvies.

Dancing to "Gangnam Style" by Psy, Marini, 36, performed a team routine with Kirstie Alley, Maksim Chmerkovskiy, Kelly Monaco, Val Chmerkovskiy, Emmitt Smith and Cheryl Burke that concluded with the actor and Murgatroyd working the ballroom in nothing but white towels.

"That's the craziest number I've ever seen," judge Len Goodman said. "It was fun!"

Fellow judge Bruno Tonioli -- who swooned along with Inaba over Marini's Oct. 22 rumba -- was equally as impressed. "Gilles, give me that towel, I'm wetting myself," he joked, leading the actor to pull it off and reveal his underwear.

"It was weird in such a fun way. Hopefully we entertained everyone out there," Marini told E! News after the show. Agreed Murgatroyd: "I think [our dance] turned out pretty good."