After ten weeks of competition, Dancing with the Stars came to an end Tuesday night, pitting reality TV star Rob Kardashian against soldier-turned-actor J.R. Martinez. In the end, Kardashian couldn't keep up and it was Martinez and pro Karina Smirnoff hoisting the mirrorball trophy.

The two-hour finale began with each couple reprising a dance from earlier in the season – a chance to hopefully show off their improved dancing skills. Ricki Lake and partner Derek Hough took another turn at the tango, which judge Len Goodman declared, “One of the most memorable dances of this or any season.”

Martinez and Smirnoff brought their jive back and Kardashian and partner Cheryl Burke revisited their foxtrot, but judges Goodman, Carrie Ann Inaba and Bruno Tonioli put Lake on top. Viewers thought otherwise, giving Lake the boot in favor of the reality TV brother and the Iraq War survivor-turned-soap opera star.

While the couples busied themselves choreographing on the fly for their final dance – a samba to Ricky Martin's “Shake Your Bon Bon” – viewers were given a recap of the season with brief dances from cast-off contestants, including: TV personalities Nancy Grace and Carson Kressley, reality star Kristin Cavallari, actors David Arquette and Elisabetta Canalis, singer Chynna Phillips, activist Chaz Bono, basketball player Metta World Peace and soccer star Hope Solo.

The judges gave both Kardashian and Martinez perfect scores for their sambas, leaving the final decision up to voters, who gave the mirrorball trophy to Martinez and Smirnoff.

“First and foremost, I want to thank everybody who voted for us for ten weeks,” Martinez said. “Thank you, America, for believing in us.”

After ten seasons of Dancing with the Stars, it was Smirnoff's first victory. “You are amazing and I'm so grateful I was able to be a part of your first mirrorball trophy,” Martinez said, as Smirnoff attempted to hold back her tears.

Watch Martinez and Smirnoff talk about their victory here: