From in hot water to “Hot Stuff”! Boy Meets World is jam-packed with memorable moments, but it wasn’t until season 5 that audiences realized what they’d always needed the men dancing to “Hot Stuff” in a club.

It all began when Cory Matthews (Ben Savage), Shawn Hunter (Rider Strong), Mr. Feeny (William Daniels) and Mr. Matthews (William Russ) all got into arguments with their partners. To apologize, they banded together  and enlisted Eric Matthews (Will Friedle) and Jack Hunter (Matthew Lawrence)  to surprise the ladies on stage.

“Since the beginning of time, men have been idiots,” Eric says in the episode, “Last Tango in Philly,” which aired in 1997. “This will make up for it.” And indeed, it did.

“We rehearsed all week. I just remember being more nervous than anything,” Strong, 41, exclusively told Us Weekly. “I’m a horrible dancer and it was one of those things when they told us we were doing it we were like, ‘I’m done.’”

The actors worked with a choreographer to get down the moves  and Daniels, 94, took center stage. “Bill was one of the guys who’s like, ‘Let’s do this.’ He’s done musicals, like, no problemo. He jumped right in. Will was also amazing,” the Cabin Fever actor recalled. “Those were the episodes that I hated where they would throw stuff like that. That and then there was a karaoke episode as well. I had to sing.

They would always be like, ‘It’s going to be fine!’ And they’d bring in some, like, coach or choreographer or singing coach to help us. And I was always so nervous and uptight. I’d be like, ‘I can’t do this. I don’t want to have to do this.’ But in retrospect, it was so hysterical. It was so much fun. And Bill’s commitment  you can see it! He committed so hard.”