"Dancing with the Stars" exposed viewers to same-sex ballroom dancing for the first time on the ABC reality show Monday night.

And competitor Jodie Sweetin, who was part of the groundbreaking move, told reporters afterwards, "We pushed some boundaries that have never been done on 'Dancing with the Stars' and I think we did it in a really beautiful, amazing way and people were really excited about it. It was fun to be part of something like that."

The surprising twist happened during the show's "Judges' Team-Up Challenge" segment in which two celebrities and their partners were coached by one of the "DWTS" judges.

Bruno Tonioli put "Full House" star Sweetin, her partner Keo Motsepe, "America's Next Top Model" star Nyle DiMarco and his pro Peta Murgatroyd through through a dramatic dance routine set to music from the opera "Carmen"

For part of their "Team Bruno" Argentine tango, Tonioli declared that he wanted girls dancing with girls and boys with boys.

DiMarco told the cameras, "This is a 'Dancing with the Stars' first, having same-sex dancing."

Fans saw DiMarco tango with Motsepe with the two men sharing ballroom hold together (and both going shirtless!). Motsepe even lifted the model off the floor and whirled him around. Sweetin also danced with Murgatroyd for part of the number.

Tonioli, who has spoken about being bullied as a gay youth, was thrilled they pulled it off, saying, "You gave a message that is very important."

Fellow judge Len Goodman commented, "I loved Bruno's bravery, getting the two couples to switch," and Carrie Ann Inaba thought it was "super sexy."

Backstage, Sweetin was delighted to be part of "DWTS" history and said, "I love Peta! Peta's hot and she's an amazing dancer and probably one of my favorite female dancers on the show and somebody that, from the beginning, I've been like, 'I want to look like Peta.' So, to get the opportunity to not only dance next to her but WITH her was great."

Sweetin, who watched videos of same-sex couples dancing to prepare for the challenge, told her partner Motsepe of his section with DiMarco, "You looked hot, dude, I'm not gonna lie."

Motsepe commented, "He's a good dancer and I think dancing with Nyle today just pushed boundaries on the show. I think we can try other things and this is the first one. Jodie and Peta, Keo and Nyle, here we go!"

When asked by FOX411 if "DWTS" should try a whole season with a same-sex celebrity and pro couple, however, Motsepe said, "I don't know. Bruno did this more like a one-time performance. I think it wasn't offensive. It was more like, 'Yo, we can do this. It's just dancing.'"

Through his interpreter, DiMarco told FOX411 dancing with Motsepe, "was fun. In this competition you have to be willing to do whatever they ask you to do and they asked us to do it and you can't say no so we were like, fine. We went with it."

Murgatroyd admitted, "We had a good giggle, though. That's for sure. We had a couple of awkward moments which we think were funny."

When asked how it felt when Motsepe lifted him, DiMarco smiled, "Well, it's a different experience. Usually I'm lifting Peta but …should it only be for a woman? Maybe Peta can lift me at some stage?"

Murgatroyd said she doesn't know if a full season same-sex pair would "happen anytime soon" on the show.

But thinking aloud, she wondered about "maybe having one [theme] week on the show is same sex couples? I don't know what dancing ABC is ready for but I think it's fun."