Sonia Kruger jumped in to try and save the awkward situation.

Dancing With The Stars’ Helen Richey / Sonia Kruger.

Dancing With The Stars’ Helen Richey made some racy remarks in Sunday night’s episode. Photos: Channel 7

Dancing With The Stars’ longtime judge Helen Richey shocked fans in Sunday night’s episode when she made some racy remarks towards one of this year’s contestants. The 80-year-old former competitive ballroom and Latin dancer was critiquing AFL star Trent Cotchin on his foxtrot performance when she began to offer him some advice.

“I’d actually like to do something with you, and I’m talking about dancing,” she began. “I’d actually like to take you home, but my husband won’t let me.”

The in-studio audience applauded Helen’s cheeky comment as Trent laughed along and said: “Anything to get an extra couple of votes, Helen.”

The inappropriate jokes didn’t stop there, as Helen stood up from her desk to try to correct Trent’s form.

“So if you hold your arms up, and just for the minute, put them on your chest,” she said, before quietly adding, “You could put them on my chest, if you like”.

Dancing With The Stars’ Helen Richey / Trent Cotchin.

Helen made a joke about Trent Cotchin putting his hands on her chest. Photos: Channel 7

While host Sonia Kruger is usually the one making risqué jokes on the show, she was quick to jump in and ask: “Do I need to call HR?”

Helen then clarified that she was only joking, while fellow judge Sharna Burgess encouraged her to “keep it going” as the crowd laughed along.

This certainly isn’t the first time Helen Richey has made a raunchy comment on the show, as she left pop star Samantha Jade red-faced last season with her off-colour remark about her burlesque-inspired performance.

“Well, where did that naughty girl come from?” Helen said. “Seriously, I think every guy in the audience would like to put you over their knee and give you a spanking – including my husband, and he is not going to.”

Viewers took to social media to describe the moment as “bizarre” and “outrageous”, while Samantha admitted to Yahoo Lifestyle following the episode that she wasn’t sure how to interrupt it.

“Oh my gosh. Did you see me hide behind the feather? Because I was like, the ground needs to open up and I just need to pop into it. I was like, ‘What is this comment? Oh my god!’. It was a lot,” she said. “I’m gonna take that, I guess, as a compliment? I don’t know about that one, Helen.”

Helen Richey first joined the Dancing With The Stars judging panel in 2004 and has appeared in 19 of the show’s 22 seasons, making her the show’s most frequent judge.