Erika Jayne Delivers a "Raunchy" Dancing with the Stars Debut

Erika Jayne made her debut on Dancing with the Stars Monday night, and it was everything we could have ever dreamed of — and then some. 

We may still be weeks away from finding out which celeb will go home with the coveted Mirrorball Trophy, but Erika definitely wins the award for best entrance ever as she started off her routine atop a white unicorn. She then descended upon a set of silver glittery stairs and broke out some sultry moves that we've become accustomed to seeing from The Real Housewives of Beverly Hills songstress onstage.

Best. DWTS. Entrance. Ever. 

In fact, Erika performed this salsa to her latest single "XXPEN$IVE" with her professional partner Gleb Savchenko. She looked uber-glam and fierce throughout all of her body rolls, high kicks, and twirls during this steamy performance. 

Erika looks like a pro on the DWTS dance floor. 

But Erika's DWTS debut may have been a bit too hot for some. "Well, I thought you came out full of flair and confidence," judge Len Goodman told Erika. "I know the salsa's a sort of a sexy dance. For me, it was a little bit too raunchy, but I am what I am."

Looking fierce from head to toe, Erika! 

Judge Julianne Hough said that Erika's performance sent a positive message to women everywhere. "Well, I would say that you're a real-life unicorn and you're amazing," Julianne said on DWTS. "I did the Instagram Live thing today and everyone was so excited to see you, and I think that is because you are out here trying to show that women should embrace their sensuality and that it's OK and it's amazing."

Erika always knows how to strike a pose like a star. 

Judge Bruno Tonioli thought Erika seemed "all sexed up and ready to go" in her performance, adding that she should work on the transfer of weight from one foot to another as she dances. Judge Carrie Ann Inaba agreed, but overall praised Erika's performance. "You are fabulous, and I love the way you exude so much confidence," she said. "I'd like to see in the future you go out of your comfort zone, because you were definitely in your comfort zone. But I'd like to see a little bit more of the elegant side next week, so well done."

Erika and Gleb receive their critiques from the judges with DWTS host Tom Bergeron. 

Each of the judges gave Erika a 6 out of 10, giving her a total of 24 out of 40 possible points. U.S. Olympic gold medalist Simone Biles led the night, earning 32 out of 40 points for her performance with pro Sasha Farber. 

Erika also had a lot of love in the audience from her RHOBH pals Eileen Davidson and Lisa Rinna, as well as Lisa's husband, Harry Hamlin, and daughter Amelia Gray Hamlin.

Though the stakes are high for Erika, they're perhaps even higher for her partner Gleb, who she promised to gift her Lamborghini to if they win this season of DWTS. "If we win, I guess he's got a new matte Lambo," Erika said in a clip of herself and Gleb at her Pasadena palace prior to their debut dance in the DWTS season premiere. "I'll just get a new one."

But in all seriousness, Erika came to DWTS to slay. "I decided to do Dancing with the Stars because I want people to see that a woman at my age at 45 is still dreaming big and still pushing the limits," she said in that behind-the-scenes clip. "I wouldn't be in this competition if I didn't want to win. I wake up every day wanting to win. Who doesn't wake up every day wanting to win in life?"

This RHOBH diva is already winning in our book. Check out more of her flawless dance moves, below.

Erika Performs in the New Clubhouse!