The dancing expert, 64, was giving advice to Olympic swimmer Tom Dean and his dance partner Nadiya Bychkova about their tango performance when she gave an impromptu demonstration.
Shirley explained that the style was 'all in the posture' as she asked Motsi to help her illustrate the point.
Anton Du Beke encouraged them as she shouted 'go on girls' - just as Shirley moved her head a certain way and accidentally locked lips with Motsi.
Strictly returned for its 20th series on Saturday as it shrugged off the bullying scandal with fan favourites Amy Dowden and Aljaz Škorjanec making their return.
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