Alfonso Ribeiro and Witney Carson dance Samba on Dancing with the Stars 19 (VIDEO)

Alfonso Ribeiro and Witney Carson danced Samba on Dancing with the Stars 19 on Monday, September 22, 2014.

Music was "Gettin Jiggy wit it" by Will Smith.

The judges wanted a bit more from Alfonso who they thought dialed it in with performance and not technique.

"You lost connection a little bit there," said judge Carrie Ann Inaba. "Costume malfunction."

"You've went out full of vim and vigor," said head judge Len Goodman.

"You're great," said judge Julianne Hough. "You have the Alfonso groove. I want to see the Latin ballroom groove."

"Your personal style is unique and extraordinary," said judge Bruno Tonioli.

The judges gave them a total score of 32.

After the dance, Alfonso Ribeiro said: "The goal always is to learn from what they have.."

To vote for Alfonso Ribeiro go to ABC.com or Facebook.

Watch the full performance video of Alfonso Ribeiro and Witney Carson here:

Judges Scores & Critique
Carrie Ann Inaba: "You lost connection a little bit there" 8
Len Goodman: "You've went out full of vim and vigor" 8
Julianne Hough: "You have the Alfonso groove" 8
Bruno Tonioli: "Your personal style is unique and extraordinary" 8
Total Score: 32
Rickey's Passing Thoughts: "Judges weren't too happy with this one, but I am sure Alfonso and Witney will work hard and bring it next week. Please vote!"

To Vote for Alfonso Ribeiro: 1-800-868-3401

About Alfonso Ribeiro

Alfonso’s interests and loves vary from acting, best known for his role as Carlton Banks on “Fresh Prince of Bel-Air,” to his active career today as a television director, host and voice-over. He made his first big role cast opposite Ricky Schroder in the long-running sitcom “Silver Spoons,” making him an instant teen idol. His directing credits include television shows “Shake It Up,” “Are We There Yet?” “The Wannabes,” “Meet The Browns,” “Cuts,” “Eve,” “One on One,” “All of Us” and “Mighty Med” on Disney XD.

Starting his acting career at the age of eight, Alfonso landed his first starring role in the Broadway musical “The Tap Dance Kid,” whereupon he was signed to famed music label Island Records. He became an overnight sensation, enamoring the likes of director Bob Geraldi, choreographer Michael Peters and “The King of Pop” Michael Jackson (who enlisted Alfonso in the infamous Pepsi commercial). After taking time to attend Cal State University, Los Angeles where he earned a Theater Arts education, Alfonso was offered a role in “The Fresh Prince of Bel-Air.” Alfonso played the memorable character of Carlton Banks, opposite his friend, Will Smith. Following six years on the popular series “Fresh Prince,” he was then approached by Quincy Jones to appear with L.L.Cool J in the NBC/UPN series “In the House.” Both can still be seen in syndication. In his free time, he plays sports and is a scratch golfer and a professional car racer, having received countless trophies and medals from numerous worldwide competitions. A native of The Bronx, New York, he currently resides in Southern California.

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Dancing with the Stars