Danny Amendola and his professional partner Witney Carson waltzed their way into the Dancing With the Stars season 33 finals on Tuesday night, November 19.

Performing a Viennese waltz and salsa dance to music from John Mayer and Cardi B, respectively, Amendola and Carson scored nines across the board to reach the finale with four other pairs. While their performance was good enough to advance (and since there were no eliminations), judge Derek Hough had some constructive criticism for the former NFL wide receiver. Hough believed that in their waltz, Amendola was holding back emotionally.

“I welcome all critiques,” Amendola, 39, told Us Weekly exclusively. “I’m trying to get better each week. And the judges, obviously, are amazing professional dancers. So as much information I can absorb from them, the better.”

It’s an expected response for someone who has been coached his entire life. Amendola spent more than a decade in the NFL and is now a coach on the Las Vegas Raiders’ staff. He’s even coaching Carson’s 3-year-old son, Leo, on the side.

Amendola has taken his approach as a pro athlete and applied it to Dancing With the Stars. He outlined his pre-show routine like a football player during game week.

Danny Amendola and Witney Carson on ‘Dancing with the Stars.’ Disney/Eric McCandless

“I would say just honestly get as many reps as we can and stay in the zone, stay focused,” he said. “You got to block out all the glitz and the glamor of being live on television and just hone into your focus and all the preparation that you put in through the week. So that’s really what we do.”

Last week, that meant running drills with props to prepare for a dance that required them to catch a hat, according to Amendola.

Carson, 31, agreed with her partner’s approach, adding that the challenge is to stay focused while fielding outside distractions during the week.

Related: Danny Amendola Is ‘More Sore’ From ‘DWTS’ Than NFL Training: ‘Icing Up’

The NFL has nothing on Dancing With the Stars — just ask Danny Amendola. “My joints are so much more sore. We’re playing on grᴀss, so it’s a little softer. The hardwood is, like, I’m icing up,” Amendola, 38, told Us Weekly exclusively following the Dancing With the Stars season 33 premiere on Tuesday, September […]

“We just kind of lock in,” she said. “It’s really easy to be distracted by everything and the fans and the other contestants. So you just really have to focus in on what you’re doing right then.”

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Witney Carson and Danny Amendola on ‘Dancing with the Stars.’ Disney/Eric McCandless

Now, it’s on to the finale where Amendola and Carson will perform one redemption dance and one freestyle routine in hopes of being crowned the winners. Neither was willing to spill much about their routines for next week, but they both agreed on one thing that fans could expect.

“Something memorable,” they both said.

Amendola, Carson and four other pairs will compete for the Len Goodman Mirrorball Trophy in the Dancing With the Stars season finale on Tuesday, November 26 at 8 p.m. ET on ABC and Disney+. You can stream episodes on Disney+ the next day.