The former S Club 7 star, 43, took to the ice for the first time after she had to pull out of last week’s show due to fracturing her wrist following a fall on the ice with pro Brendyn Hadfield.
During Sunday’s instalment, Rachel and Brendyn performed a routine to Lady Marmalade from Moulin Rouge, where they received a total of 26.5 points from the judges.
Supporting the duo in the audience were Rachel’s husband Alex Bourne and their daughters Amelie, 11, and Minnie, seven, as they sweetly waved signs.
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Talking after the skate, host Holly Willoughby said: “Your children are in the audience, they have their banners there, is it right they have never seen you perform like this?”
To which Rachel admitted: “They’ve never seen me in real life performing, no, and all dressed up so it’s so special to be able to share it with them.”
Later during the show, Rachel found herself in the dreaded skate-off with Ria Hebden, where the latter became the second star to leave Dancing On Ice.
Ria, 39, performed with pro Lukasz Rozycki as she went against Rachel and Brendyn, who also received the lowest votes on the show.
After both stars took to the ice with their pro partners to perform in the dreaded skate-off, the four judges – Jayne Torvill, Christopher Dean, Oti Mabuse and Ashley Banjo – delivered their verdict with Rachel and Brendyn winning an unanimous vote.
Speaking after her fate was revealed, Ria vowed to keep skating as she praised pro partner Lukasz and sweetly said she has a friend for life.
She said: “Well I’m going to continue skating, I’m going to teach Lula [her daughter], we’re going to do it and it’ll be our thing. So thank you for the opportunity, you’ve been an amazing friend and I know we’ll stay friends for life. So thank you!
“We’ve absolutely loved it, haven’t we? Just everybody, thank you, from behind-the-scenes to all the coaches, everybody. It’s just extraordinary this show and I hope it’s brightened up everybody’s Sundays, because we’ve had the time of our lives.”
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Dancing On Ice continues on Sundays on ITV.