Len Goodman has announced he is leaving Dancing with the Stars after judging nearly 30 seasons of the reality dancing competition. During Monday night's Dancing with the Stars episode, host Tyra Banks checked in with Len, the head judge, before the second round of competition commenced. RELATED LINK: 'DANCING WITH THE STARS' PROS AND THEIR SIGNIFICANT OTHERS: WHO'S DATING OR MARRIED TO WHOM!? (PHOTOS) "Len, you have seen more than 3,000 routines here in this ballroom," Tyra noted, "and I know you've got something to say tonight." Len said as everyone is getting excited and looking forward to the finale next week, there will be "a touch of sadness" to the final episode of Dancing with the Stars' 31st season. "This will be my last season judging on Dancing with the Stars," Len announced. "I've been with the show since it started in 2005, and it has been a huge pleasure to be a part of such a wonderful show." Len continued, "But I've decided I'd like to spend more time with my grandchildren and my family back in Britain." The audience clapped and cheered loudly for Len, who added, "I cannot thank you enough for the Dancing with the Stars family. It has been such a wonderful experience for me." The longtime judge -- and "legend," according to Tyra -- concluded his announcement by saying, "I'm looking forward so much to next week's finale. I'm sure it's going to be absolutely brilliant." Fellow Dancing with the Stars judges Derek Hough, Carrie Ann Inaba and Bruno Tonioli hugged Len, and Derek appeared to have tears in his eyes given he had competed as a professional dancer on the show long before sitting next to Len on the judging panel. Tyra went on to note how many of the Dancing with the Stars pros had been judged by Len as children -- including Derek, Mark Ballas, and Val Chmerkovskiy. RELATED LINK: 'THE BACHELOR' FRANCHISE COUPLES NOW: WHO IS STILL TOGETHER?? (PHOTOS) "You've inspired generations of dancers around the entire globe through your passion and through your expertise and through your laser-focused eye," Tyra said. "And they are going to carry on that commitment to excellence forever. Thank you so much -- a living legend." Len served as a judge on all of Dancing with the Stars' seasons except for Season 21 in 2015 and Season 29 in 2020. For years, Len would travel back and forth between London and the United States to film Strictly Come Dancing in England and Dancing with the Stars in Los Angeles, CA. In 2020, he participated in the Dancing with the Stars season virtually, but not as a judge, because he could not freely travel between countries amid the coronavirus pandemic. Derek replaced Len as the head judge of the show's 29th season during the height of COVID-19. Dancing with the Stars' finale next week will feature the following couples competing as finalists: Broadway star Wayne Brady and pro Witney Carson, The Bachelorette star Gabby Windey and pro partner Val Chmerkovskiy, TikTok star Charli D'Amelio and pro Mark Ballas, and drag queen and former RuPaul's Drag Race contestant Shangela Wadley and pro Gleb Savchenko. Only one couple will win Dancing with the Stars' coveted mirrorball trophy for Season 31 on Disney+. RELATED LINK: 'DANCING WITH THE STARS' PROS AND THEIR SIGNIFICANT OTHERS: WHO'S DATING OR MARRIED TO WHOM!? (PHOTOS) Prior to the current season, Dancing with the Stars aired 30 seasons on ABC, most of which had featured Tom Bergeron as the host.