But since America's vote was based on last week's performance when Frankie had messed up a couple of times during his animation-inspired jazz routine, he and Witney assumed their time on Season 25 was up.
"I'll tell you this. We were pretty sure we were going home tonight," Frankie told Us Weekly after Monday night's show.
"We expected it," Witney agreed. "I can usually tell. I usually have an instinct. I guess I was really wrong."
The actor and race car driver's ouster would've been a big disappointment considering he and Witney had just danced a fantastic contemporary routine for the Halloween theme and received a perfect score of 30 points from the judges. In fact, the pair topped the judges' leaderboard for the night.
"I feel like I've been motivated from every week. Even when we had the Disney week, we had two 10's and a nine -- having that great score motivated me for the next week," Frankie explained of his journey so far on Dancing with the Stars.
"Every week is continuing to motivate me, but especially this week. I didn't want to go out on that note. I wanted to come out and do the best I can. I want people to see that I'm working hard, and I'm not the guy who makes mistakes. It happened, but this was amazing."
The actor added, "I'm thrilled. I never thought I would see a perfect score, never mind two, and it's amazing. I don't know. I love it."
Frankie and Witney received another perfect score of 30 points during the "Team Dance" round in which the couple performed with several other pairs under the name "Phantom of the Ballroom." The judges raved about how the collaboration was the best and most polished "Team Dance" in Dancing with the Stars history.
Next week, Frankie and Witney will be joined by the show's Season 19 winner, Alfonso Ribeiro from The Fresh Prince of Bel-Air, for the famous "Trio Round." Frankie and his pro partner hope to keep the momentum going.
"I am so excited about Alfonso," Witney told Us. "He came into the room, and I was like, 'Yes. It's going to be a great team!' Frankie and him all ready know each other, so I think they'll get along, and he's a great guy, so it will be fun."
Witney also believes Alfonso's comfortable stage presence and confidence may rub off on the former Malcolm in the Middle star.
"He doesn't get nervous," the blonde beauty revealed of her former partner. "And I don't know what goes through his mind when he does that. Hopefully, that can rub off on Frankie a little bit -- not be so neurotic and crazy."
"We've been friends for years, and we have the same work ethic. I'm not afraid of him not wanting to put in the time to make the trio dance as good as it can be," Frankie gushed.
"So I think we're going to be good. No, he's really good. That's the only thing I'm a little afraid of because I had to keep up with him."