The celebrities performed one unlearned dance with a different partner selected by the general public; due to the nature of the week, no elimination took place.
Herjavec has three children from his previous relationship with Diane Plese.
Maria Lopez and Karina Smirnoff had instant chemistry when they were paired up during the third season of the show. "It felt like the world came to an end for a second," Smirnoff said after the breakup.
The couples performed one unlearned dance and a team-up dance with another couple that was designed and coached by one of the three judges.
To avoid favoritism, the judges did not score their own teams.
Instead, the general public was able to score the team-up dances on a scale from 1 to 10, with an averaged score counting alongside the remaining judges.
Beginning in week four of the live shows, a celebrity guest judge was present at the judges table to comment on and score the dance routines.
Season 16 runner-up Zendaya was the first celebrity guest judge on April 11.
WATCH: 'DWTS' Couple Robert Herjavec and Kym Johnson Really Are 'Madly In Love' The newlyweds surprised the crowd with two highly orchestrated dance numbers.
On May 24, 2016, Nyle Di Marco and his partner Peta Murgatroyd were crowned champions; this was Murgatroyd's second win on the show, as she also won season 14 with Donald Driver.