'DWTS' Season 20: Semi-finals wow with breathtaking dances and happy crying

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This week, Dancing With the Stars' remaining four couples faced off in the semi-finals with two epic dances per couple. To raise the stakes, the second of the dances was chosen and coordinated by the judges.

For the first time ever, each couple teamed up with a different judge for four wildly different and mind-blowing routines that raised the bar forever. In fact, almost every performance led to someone (or everyone) crying tears of joy – not to mention, that surprise proposal!

VIDEO: Noah Galloway Shocks Girlfriend With Heartwarming Proposal on 'DWTS'

Host Tom Bergeron said it best toward the end of the night when he muttered, off screen, "Oh man. How do we top this next week?"

Check out our look at the best, the worst, and the weirdest moments of the night.

THE BEST

Rumer and Val's 'Fifty Shades' Dance

The night started off with a racy routine between Rumer and Val that starts with some iconic necktie bondage play. The dance was hot, steamy and undeniably skillful, as well as a brilliant way to kick off the semi-finals.

Noah Galloway Proposes

After getting great scores on his beautiful first dance, Noah took the opportunity to drop to one knee and ask his girlfriend, Jamie Boyd, for her hand in marriage, and it left everyone in tears. This will easily be one of the most talked-about moments in DWTS history.

'Dancing With the Stars': Noah Galloway Proposes on Dancing with the Stars

Nastia Is Stunning

She's too talented for words! It's almost impossible to believe how amazing she is. It's not hard to understand -- after all she is an Olympic gymnast -- but it's still breathtaking to see what she's capable of.

Rumer and Val's Insane Lift

Just look at that lift! And it went on for like 10 minutes (or, more accurately, a few seconds -- but it felt like forever).

Noah Is a Minotaur Tamer

It's hard to think of another DWTS set piece or dance number that was this astounding in its epic scope. Noah and Sharna's bullfighting/minotaur-themed routine was jaw-dropping, and it's climax, of Noah commanding the army of bull-men, couldn't have been cooler.

Derek Dances, Len Dances

You couldn't even tell that Derek had hurt his feet when he danced with Nastia in the final performance of the semi-finals. It was a sweet, wonderful display of beauty made all the sweeter when Len stepped in to end the dance in a heartfelt moment of joy.

Len had been lamenting the fact that he wasn't able to dance anymore due to his age, so Derek made an amazing gesture by having Len come out and finish the dance with delicacy. It brought all Len's fellow judges to tears.

THE WORST

Noah Sets the Bar Higher for Everyone

Yeah, the moment was incredibly sweet, but what about every other guy whose planning on proposing? How could anyone top this?

Bruno Basks in Glory

Bruno loves attention. So when the dance he orchestrated totally kills, it's not a surprise to see him basking in adoration. You can't help but love the guy, though.

THE WEIRDEST

Len Doesn't Like to Be Touched

Seriously, he gets super mad. When Carrie Anne bumped into him, you could see the annoyance on his face. Which led to Carrie Anne and Julianne hilariously poking at him to get under his skin.

Swan Lake Eyebrows

Sure, it's traditional for Swan Lake, but that doesn't mean it's not creepy. Swans are terrifying, and swan-human hybrids are even worse.

Super-Buff Minotaur Men

Worse than swan-human hybrids are bull-human hybrids. Noah's dance might have been amazing, but those minotaurs are nightmare fuel.

NEWS: 'DWTS' Season 20: Double Elimination! Who Went Home and Who Moved on to the Semi-Finals?

FINAL SCORES

Riker Lynch & Allison Holker - 80 (40/40)
Nastia Liukin & Derek Hough - 80 (40/40)

Rumer Willis & Valentin Chmerkovskiy - 78 (38/40)
Noah Galloway & Sharna Burgess - 76 (36/40)

Dancing With the Stars returns tomorrow for their star-studded elimination episode that will determine who makes it to the finals and who gets sent home. No matter the outcome, it's going to be sad because every partner this season brings something amazing to the table.

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