From Muppet Wiki

Dancing with the Stars is a television series that airs on ABC hosted by Tom Bergeron and Samantha Harris.

Sesame Street spoofed the format as "Dancing with Triangles" in Episode 4144 where Chris, Gordon, Maria, The Elephant, and Telly Monster are contestants.

Muppet Guest Spots

• October 2, 2007 - Count von Count appeared briefly in "The Counting Room" on Jimmy Kimmel's insert (voiced by Jerry Nelson), which was supposed to give viewers some insight on how the audience's votes were counted. He's forced to reset the counting, when Kimmel tells him that Mel B. and Scary Spice are the same person.