Dancing with the Stars has crowned its first champions to ever walk away with a golden mirrorball trophy.

Actress Rumer Willis and her professional partner Val Chmerkovskiy, who has made it to the finals a total of four times and finally won, were declared Dancing with the Stars' twentieth-season ballroom champions during Tuesday night's live finale results show on ABC.

"It's amazing. Honestly, you guys, this has been the most incredible experience of my life. I know I've said it a bunch of times up here, but I could never, ever dream of not having done this, and I'm so unbelievably grateful for it," Rumer said after dancing her final performance of the season with Val.

Rumer and Val hugged each other and were hoisted up onto their fellow contestants' shoulders. The pair celebrated onstage as Rumer's family screamed with excitement in the audience and chaos ensued.

Rumer and Val were revealed to be Dancing with the Stars champions based on the combination of the judges' scores they had received over the course of Monday and Tuesday night's three rounds of competition and their share of the home viewer votes that were cast immediately following Monday night's final performance show.

R5 frontman Riker Lynch and his pro partner Allison Holker finished in second place. Allison just joined the show last season and was eliminated in ninth place, so this was a huge leap forward for her.

"The whole experience has been unbelievable. The friend I have made in Allison is so unbelievable, and the time we spent together, there's so many great memories and so many laughs. It was such a great experience I'll never forget," Riker said after learning the results.

U.S. Army veteran Noah Galloway and his pro partner Sharna Burgess claimed third place. This marked Sharna's first time making it to the finals.

"The way everyone's acted [inspired me]. I thought three weeks at the most I'd be here and I made it to third place, and I'm so happy with that. And it's because of all the support from everyone who loved what Sharna and I were doing. Even everyone here, when I had a bad rehearsal or a bad dance, everyone would get behind me and be like, 'Hey, keep pushing through.' And I've loved every minute of that," Noah said after discovering he had placed third.

Rumer and Val tied for first place on the combined two-night judges' leaderboard with Riker and Allison after both couples received a total perfect score of 120 out of 120 points for their three dance routines from Dancing with the Stars judges Len Goodman, Carrie Ann Inaba, Julianne Hough and Bruno Tonioli.

Noah and Sharna finished in third place on the combined two-night leaderboard with 108 total points.

Tuesday night's finale featured the Top 3 couples each performing one last quickly-rehearsed "24-hour Fusion" routine, which combined two different styles of ballroom dance into one complicated number. The challenge completed each couple's scores from the judges for the finals.

Rumer and Val and Riker and Allison each earned a perfect score of 40 out of 40 points from the judges. Rumer and Val took the stage with a foxtrot and paso doble fusion routine, while Riker and Allison danced a salsa and quickstep fusion. Noah and Sharna danced a cha cha and Argentine tango fusion which received 36 points.
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During Monday night's broadcast, the Top 3 finalists and their respective partners danced in two rounds of competition in which they gave an encore performance of an old routine the celebrities loved and wanted to improve upon as well as the fan-favorite freestyle.

For a more detailed description of each couple's scores and routines from Monday night's performance show, click here.