Lauren Jauregui Reacts to Fellow Fifth Harmony Star Normani's 'Spectacular' Performance at “DWTS” Finale (Exclusive)

Lauren Jauregui returned to Dancing with the Stars for the season 34 finale — as did her fellow Fifth Harmony member Normani!

The hit ABC dance competition series aired its final episode of season 34 live on Tuesday, Nov. 25, with Robert Irwin and Witney Carson finishing in first place and taking home the Mirrorball Trophy.

Jauregui, 29, came back to support her castmates after finishing in 12th place earlier in the season. "It's so electrifying to be here with everyone, and everyone was so good tonight," she tells PEOPLE in a post-show interview.

"I was having a time, baby," adds the "Ego" singer. "It was fun. It was so amazing."

Alix Earle and Valentin Chmerkovskiy finished the season in second place, followed by Jordan Chiles and Ezra Sosa,.

Chiles, 24, and Sosa, 25, delivered a freestyle performance set to Beyoncé's "Bow Down," before Normani, 29, joined the Olympic gymnast to dance to her 2019 hit "Motivation."

Jauregui didn't know Normani — who placed third on season 24 of DWTS — would appear at the season 34 finale "until a couple days ago."

"I saw her today, walking through the hallways and stuff," she says. "It's always amazing to see her, and to see her dance and to see her perform."

"Mani is such a spectacular performer and such an amazing artist, so I love that she was highlighted and she got to have her moment," adds Jauregui. "That was beautiful."

Normani previously attended Jauregui's third and final episode of the competition alongside Fifth Harmony's Dinah Jane and Ally Brooke to watch their bandmate and her professional partner Brandon Armstrong dance to the girl group's hit "Work from Home."

"I loved having them there," Jauregui told PEOPLE in October. "They were so sweet and held such a nice little container of love."

The three women provided comfort after Jauregui's elimination, she explained at the time: "Once I came off, I was like, 'I'm sorry you guys came to my elimination episode. That's crazy.' But they were so supportive and sweet, and they're just like, 'Girl, it's not you. Don't worry. Just keep your head up. You did your thing.'"