Tatyana Ali asked for permission from James Avery’s widow, Barbara, before honoring the late actor on “Dancing With the Stars” during this week’s episode.

“His widow, Barbara, she was very open to it, but I had to talk to her first before,” Ali told Us Weekly on Tuesday. “I wouldn’t have done it without her. Not just her approval, but also her knowing exactly what we had planned.”

The actress, along with her pro dancing partner Jan Ravnik, performed a Viennese waltz to “(You Don’t Know) How Glad I Am” by Nancy Wilson in honor of her late “Fresh Prince of Bel-Air” dad, Avery.

Ali provided the vocals for this rendition, and also invited her TV brother and “DWTS” co-host, Alfonso Ribeiro, to join them in the performance.

“I hope she’s very happy with it,” Ali told the outlet of Barbara’s reaction.

“I got to perform. I got to sing. I got to really make it personal — a personal tribute to James. I’m just glad they said yes when I asked if I could,” she said.

Avery passed away in 2013 from complications after an open-heart surgery.

The former “Sesame Street” star said that getting to collaborate in the ballroom with Ravnik and Ribeiro was something that she will never forget.

“Every single moment that we did, every time he stepped in during rehearsal, it just was like, ‘Oh, I can’t believe this is my life, and I get to do this,’” Ali said.

“We were together when we were young. To be able to do this now on this show, it’s really special,” she added.

Ali and Ravnik earned a 32/40 from the judges for their emotional tribute.

“James was the most lovable, charismatic, intelligent person, and he was a very important part of our lives,” Ribeiro said of the late actor ahead of their tribute. “So to be part of this routine for Tatyana is a blessing for my life.”

Ali played Ashley Banks on the sitcom, while Ribeiro played her brother, Carlton Banks.

“He was very much a father figure for all of us,” Ali said of Avery during a pre-recorded intro package prior to hitting the ballroom floor.

“He taught me that what you do can be more than just a job — it can be how you contribute, how you share, as an artist and as a performer,” she said.

New episodes of “DWTS” air Tuesdays at 8 p.m. on ABC and Disney+, and stream on Hulu the following day.