'Dancing with the Stars' returns with special two-night premiere

Tuesday's results show features a duet performance from music legend Smokey Robinson and Aloe Blacc

Allison Holker, Keo Motsepe and Artem Chigvintsev perform a new pro number

"Dancing with the Stars" is back with an all-new celebrity cast and fresh show format. The competition begins with the two-hour season premiere, Monday, Sept. 15 (8-10:01 p.m., ET). The premiere episode will kick off with a live opening number featuring the entire cast and judges. Each couple will then perform a cha cha, foxtrot or jive, vying for America's vote for the first time.

"Dancing with the Stars: The Results" two-night premiere continues Tuesday, Sept. 16 (8 p.m., ET). One couple will be eliminated by combining the judges' scores from Monday night's performance with the public votes. The Tuesday night show will feature music legend Smokey Robinson performing a duet of "My Girl" with Aloe Blacc off Robinson's new album, "Smokey and Friends." The show also will feature a special dance number performed by the three new pros: Allison Holker, Keo Motsepe and Artem Chigvintsev.

Two-time Mirrorball champion and actress Julianne Hough joins Len Goodman, Bruno Tonioli and Carrie Ann Inaba at the judges' desk. Hosted by Emmy Award-winning host Tom Bergeron and Erin Andrews, "Dancing with the Stars" is the hit series in which celebrities perform choreographed dance routines vying for a chance to win the coveted Mirrorball Trophy.

The celebrities and their partners for season 19 of "Dancing with the Stars" are:

• Jonathan Bennett and Allison Holker
• Tommy Chong and Peta Murgatroyd
• Randy Couture and Karina Smirnoff
• Betsey Johnson and Tony Dovolani
• Lolo Jones and Keo Motsepe
• Bethany Mota and Derek Hough
• Janel Parrish and Valentin Chmerkovskiy
• Alfonso Ribeiro and Witney Carson
• Sadie Robertson and Mark Ballas
• Antonio Sabato Jr. and Cheryl Burke
• Tavis Smiley and Sharna Burgess
• Lea Thompson and Artem Chigvintsev
• Michael Waltrip and Emma Slater