The newly engaged Misty Copeland knows a thing or two about ballet. The first African-American principle dancer for the American Ballet Theatre dropped by "Jimmy Kimmel Live!" and tried to teach the host, as well as his sidekick Guillermo, a thing or two about ballet. Needless to say the two were not very good at pliés, let alone tying their ballet shoes!

"It took 47 years and a hell of a lot of soul-searching, but today I finally discovered that my passion is ballet," Kimmel said.

Kimmel and Guillermo showed up to the ballet studio looking like true ballerinas complete with pink shirts, tights and tutus.

"Oh my god, your legs are really hairy," Copeland told Kimmel upon his arrival.

The dancer then invited Kimmel to show her his dancing skills, including a plié.

"You actually have really gorgeous legs," a surprised Copeland told the late night host.

"I've been telling you that for life," Guillermo said, to which Kimmel replied, "You have been saying that!"

After the hilarious dance lesson, the trio performed what they practiced on the show at the Brooklyn Academy of Music's Howard Gilman Opera House, the location where Kimmel is hosting his New York shows, according to the New York Daily News. Kimmel went back to his roots Monday night and hosted his show from Brooklyn, New York, where he was born, as part of his week of "Back to Brooklyn" shows.

Check out the ballet lessons and performance by Copeland, Kimmel and Guillermo below!