EXCLUSIVE: Normani Kordei Opens Up About Fifth Harmony Joining Her Onstage for 'DWTS' Performance

It was a memorable night for Normani Kordei!

The 20-year-old singer, who is currently competing on season 24 of Dancing With the Stars, proved she's in it to win it, dancing a rumba to "Impossible" with her pro partner, Val Chmerkovskiy, during the competition's Most Memorable Year week. While the performance would have been amazing as a dance on its own, #TeamValmani gave Harmonizers a sweet surprise by having Normani's Fifth Harmony bandmates -- Ally Brooke, Dinah Jane and Lauren Jauregui -- join her onstage to sing the track, originally sung by Shontelle.

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Following the stellar performance, which received a 32/40 from the judges on Monday, ET caught up with Normani and Val backstage, who couldn't stop gushing over what it was like to have 5H be a part of their routine. Although the Atlanta, Georgia, native admitted "it was a bit nerve-wracking," she said she also "felt a sense of security" having her girls by her side.

"It meant the absolute world to me and I feel like I can't do enough to even thank them or put into words how grateful I actually am for them, just because they changed my life in ways they don't even know," Normani, who chose 2012 (the year she auditioned for The X Factor) as her most memorable year, told ET's Cameron Mathison. "I've learned so much from them, not just musically, but as a person, and I know that we can have each other for the rest of our lives. It's us against the world."

"I laid it all out there onstage," she continued. "At the end of the day, I guess it's a competition, but I also feel like I get so much more than just a perfect score or whatever from this experience. I think that it's me looking at myself and reflecting and saying, 'I'm proud of you,' and, 'I know all that you've done to put into this dance.' So when I watch it back, I wouldn't have changed anything [about that performance]."

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Normani revealed that one important lesson she's learned during her first four weeks in the competition is the power of strength.

"I'm stronger than I give myself credit for," she admitted. "And I need to stop overthinking. I mean, everybody can see that."

"She's great, she's handling it great," added Val, when asked about the added pressures of rehearsals, as the two were traveling the world with 5H the past few weeks. "I'm glad that her tour is over. It's been fun, Asia was incredible, but God bless America. Can't wait to be back to wake up here [in Los Angeles] and to go into the studio not chasing time, but actually having fun, exploring new ideas, being creative and actually having time to prepare."

See more highlights from the Most Memorable Year performances in the video below!

WATCH: Normani Kordei's Fifth Harmony Bandmates Perform On Stage for Her 'DWTS' Routine