The brief snippet of Joe and his professional partner Katya Jones showed the couple doing their incredible routine to Human by Rag n’ Bone Man.
However, in the backstage footage that was only revealed on this evening’s show, the Holby City actor, 42, was seen losing his balance and nearly taking a tumble during rehearsals.
In the video, Joe could be seen struggling with his balance and putting out a hand down on the floor to stop them both from collapsing in a heap.
He and Katya, 28, were practicing their final move which saw them switching their balance in an incredible Strictly Come Dancing first.
The BBC behind-the-scenes footage comes after the couple got a score of 70 from the judges, putting them in joint second places with Debbie McGee and Giovani Pernice.
Alexandra Burke and Gorka Márquez topped the leaderboard with a whopping 79.
Despite the mishap in rehearsals, Joe and Katya nailed the all-important last move but did suffer balance issues elsewhere in their dance.
Speaking about the routine tonight, judge Darcey Bussell told host Claudia Winkleman while watching a replay: “Oh my god, how beautiful is that? This is where he had his balance problem which is such a shame.”
As a clip of the final move was shown, she added: “But we want that – how extraordinary! Have you ever seen that on Strictly?
“Can you imagine how strong you have to be in your core to have that balance? I mean, in the Argentine Tango you need to take risks, you can’t play it safe – especially in the semi-finals.
“We want to see them pulling off every single, daring move possible. That’s when they’re going to get more points.”
This evening also saw Mollie King and AJ Pritchard get eliminated as the finalists were revealed to be Joe and Katya, Alexandra and Gorka, Debbie and Giovanni, and Gemma Atkinson and Aljaž Škorjanec.
The Strictly Come Dancing grand final airs on BBC One next Saturday at 6.30pm.
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