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FINALLY. The moment we've ALL been waiting for (especially "The Fresh Prince of Bel-Air" fans)!! Carlton Banks has resurrected "The Carlton" in all its amazing, arm-swinging glory!

Alfonso Ribeiro busted out the famous dance on "Dancing With The Stars" this week  during his routine - and it was AMAZING. He hasn't lost his touch at all! To top it off ... he even DRESSED like Carlton Banks!

After his performance with Witney Carson, judge Carrie Ann Inaba said, "All I can say is: FINALLY!"

Check it out below:

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