The 41-year-old Idol judge joined Marc as he sang Hector Lavoe’s “Aguanile” – but instead of singing, J. Lo did a sultry dance number in a fringe leotard and heels!
“Now we know what they do at home!” host Ryan Seacrest said after the couple ended their performance with a kiss.
“Thank you all my #lover?s for all your support! Tonight was amazing!” Jennifer tweeted.