Tatyana Ali delivered an emotional tribute to her late Fresh Prince of Bel-Air co-star James Avery during Tuesday's (Oct. 20) episode of Dancing With the Stars , honoring the actor who played her father on the beloved sitcom.

Ali, who portrayed Ashley Banks on the NBC series, dedicated her performance to Avery during the show's Dedication Night, which allowed contestants to celebrate people who had a lasting impact on their lives.

Alongside professional dance partner Jan Ravnik, Ali performed a Viennese waltz to Nancy Wilson's "(You Don't Know) How Glad I Am," providing her own vocals for the routine.

The performance also featured a special appearance from fellow Fresh Prince alum Alfonso Ribeiro, who played Carlton Banks on the series and now co-hosts DWTS — an appropriate job, given his long history with dance .

"He was very much a father figure for all of us," Ali said of Avery during a prerecorded segment.…