The former "Fresh Prince" star has been vying to get on the show since it began a decade ago and now he's the champion. He beat out other finalists -- Sadie Robertson, Janel Parrish and Bethany Mota.
ABC News spoke to Ribeiro right after the win. He explained why this was the perfect time to be part of the show and maybe if he had competed in other seasons, it would not have turned out the way it did.
Ribeiro just welcomed his second child Alfonso Lincoln Ribeiro, Jr. in October 2013.
"This ... is worth waiting for," he told ABC. "The right thing happened at the right time. I think it was the right, the right time with my family, you know if I had done it before last season, I wouldn't have gotten Witney."
Ribeiro, 43, gave a warning to other celebrities thinking about being on the show.
"I would first tell them, 'If you want to do the show, get in shape first,'" he joked.
Finally, the acclaimed actor and father of two said he knows exactly who he wants to take his place on the dance floor next season.
"I want to get my boy David Justice to do it," he said. "He was in the audience tonight. You know, he's an MLB star so, it might be nice to see him on the dance floor."