He was one of the most controversial contestants on DWTS at the time . . . trading in his swim trunks for dancing shoes on season 23 of the show. 

12-time Olympic medalist Ryan Lochte joins his former partner, Cheryl, to discuss their time on the hardwood floor, coming on the heels of his scandal at the Rio Olympics. 

Ryan breaks down how he dealt with various emotions during that time, including handling depression, trying to find confidence again, and dealing with protesters who crashed his debut on live TV!

Plus, he opens up about how Michael Phelps helped bring him back from the brink. 

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