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Getting back into the swing of things! Piers Morgan dances around with Heidi Klum as he makes a welcome return to America's Got Talent as a guest judge

Published: 04:15 EST, 5 August 2015 | Updated: 07:09 EST, 5 August 2015

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He left his role as a judge on America's Got Talent in 2011 after six seasons.

And Piers Morgan was making a welcome return as a guest judge on Tuesday night's episode of the hit show, sandwiched between Heidi Klum, Howie Mandel, Howard Stern and Mel B on the judging panel.

The 50-year-old presenter was clearly having a ball resuming his duties and slid easily back into things, joking around with German supermodel Heidi when she challenged him to prove he was the best dancer of them all.

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Back in the hot seat: Piers Morgan made a return to the America's Got Talent judging panel on Tuesday night

Piers came to the rescue of Mel, defending her honour when act Kayvon Zand, 28, told the Spice Girls singer she was 'No Whitney Houston'.

Zand was furious when all the judges pressed their buzzer and started arguing with them.

He took offence when blunt Brit Mel told him his voice wasn't technically ready and he cut her off, asking, 'Do you think youíre a better singer than me?'

Getting into the swing of things: Piers joked around with Heidi Klum as she challenged him to prove he was the best dancer out of all the judges

Loving it: The 50-year-old presenter was in charge of the special golden buzzer

All-star line-up: Piers sat alongside (L-R) Howard Stern, Heidi Klum, Mel B and Howie Mendel on the panel

Mel B pays visit to the Empire State Building to promote AGT

The crowd booed as Morgan stepped in, telling him he was a brat and that he should show Mel some respect.

When Zand tried to retract his comments, he only dug himself deeper by saying, 'She's not like a Whitney Houston but she's a good singer.'

The action-packed episode saw the last group of the brand-new Judge Cuts battle it out for a spot in the Radio City Music Hall live shows.

Whittling it down: The judges were tasked with sending another handful of acts through to the next round

What a gent: Piers came to fellow judge Mel's rescue when an angry contestant dissed her singing voice

'You're no Whitney Houston': The Spice Girls star was unimpressed with the act's cruel comments

Heated discussion: The panellists couldn't agree on much as usual and had a heated debate

Howie was loving having his former nemesis Piers back on the show, writing on Twitter, 'In the first 5 minutes of @nbcagt, I prank @piersmorgan! Oh this is gonna be good. #AGTat8'.

The pair were up to their usual antagonistic tricks, with Howie replacing Piers' chair with a tiny wooden stool, much to the amusement of the audience.

Piers follows in the footsteps of Neil Patrick Harris, Michael Buble and Marlon Wayans, who have all acted as guest judges during season ten so far.