Cheryl Burke is officially making her Dancing With the Stars comeback during season 34 - and it feels like coming home. "I can't believe it's been three years [since I left]. ... I'm just excited," Burke, 41, exclusively told Us Weekly on Thursday, October 23. "It's so special to go back home, I guess, to a place where I have spent most of my life in that ballroom." Burke served as a pro on 26 seasons of DWTS, starting with season 2 in 2006. She'll make her highly anticipated return to the show as a guest judge for the Halloween episode on Tuesday, October 28, and she already has an idea of what she hopes to see from the remaining couples. "I'm definitely going to be looking for authenticity," Burke told Us. "I think, you know, that can be a big word, but authenticity meaning to the style of dance, and especially when it comes to ballroom. I mean, I am the first to say that I am definitely not an expert in contemporary or jazz, but I am in ballroom, and I will be looking for technique that's executed the right way that has been written in technique books, because that's just what I know, right? So I'm going to focus and stay in my lane as far as that goes." Everything Cheryl Burke Has Said About Her 'DWTS' Tenure Through the Years Burke acknowledged that she's "a very emotional dancer" herself, but she doesn't want to see anyone's "passion" overpowering their dance. "I'm not looking for perfection," she continued. "It's the imperfections and the detail that makes ballroom so beautiful." Halloween Night will include a wide variety of styles, which Burke said becomes "really hard to compare." However, she trusts the judges - Derek Hough, Carrie Ann Inaba and Bruno Tonioli - are focused on individual improvement, because "that's the whole point of the show." Cheryl Burke at the 33rd Elton John AIDS Foundation Academy Awards Viewing Party on March 2, 2025. Vince Flores/Variety via Getty Images Though Tuesday marks her first time back in the ballroom for several years, the call wasn't completely out of the blue. Burke told Us conversations were "probably happening for the past year" about her returning. "I never thought that this day would come," she said, calling it "surreal" to be on the other side of the judges' table. "And it's great, because I'm able to hopefully empower these couples. I've been watching closely, obviously, but even if I wasn't judging, I'd be watching." Burke reflected on how the fandom has changed over the past two decades, especially with TikTok in the mix. "I must say, these people really are convincing me that they're ballroom experts," she teased, "and it's fascinating to see the community that has been built." 'Dancing With the Stars' Season 34 Halloween Night Songs Revealed While there are plenty of "new fans," Burke told Us some aspects of DWTS have stayed the same - like the love for comedian Andy Richter and his partner, Emma Slater. "He is America," Burke said of why he's stayed safe in the competition. "He is the everyday man who may not feel 100 percent confident or comfortable ... but he is truly so vulnerable, and he's laying it all out there." Burke would know from experience. She previously won the ABC reality series with partners Drew Lachey during season 2 and Emmitt Smith during season 3 in 2006. She most recently competed on season 31 of the show in 2022, finishing in 13th place with partner Sam Champion. She ultimately exited Dancing With the Stars at the end of season 31. "This has been one of the absolute hardest decisions of my life and I am also confident that it is the right one," she wrote via Instagram in November 2022. "This show has been my second family since I was 21 years old. The cast, crew and fans have seen me through my highest highs and some of my lowest lows, and I honestly don't know who I would be today without them." She continued: "I also know that it is time for me to begin the next phase of my career, although dance will always be a part of me. I am excited about the idea of evolving, about being challenged in new ways, having the ability to expand my commitment to mental health advocacy, focusing on my newfound love of podcasting, and I'm ready to face the uncertainty (though it's scary as s***) of what the future holds - I do have a few things up my sleeves though, so don't worry." Every 'Dancing With the Stars' Pro Through the Years: Where Are They Now? In September 2023, Burke reflected on her DWTS departure in an exclusive interview with Us, hinting it was worse than her 2022 split from ex-husband Matthew Lawrence. Now, she sees her exit as more of an "amicable divorce." "It was heartbreaking," she told Us on Thursday. "It was the hardest decision of my life. I mean, I've spent most of my life on that show, so I think the umbilical cord is still attached. Like, I love the show, and I have so many great memories, and it's changed my life. It helped me find my voice in general, like, when I look back at my audition, it's just insanity. I would