"This time, the rumors are true!! Lol!! I WILL be joining the #SYTYCAD panel tomorrow night! xoP," the former "American Idol" and "The X Factor" panelist tweeted Monday.
Abdul was joined at the judges' table by the Fox dance competition show's regular panelists Nigel Lythgoe and Mary Murphy.
Lythgoe, an executive producer on "SYTYCD," described Abdul in his own tweet this week as "the girl I've waited ten seasons for."
Also critiquing dancers as a guest judge Tuesday night was television sports reporter and one-time "Dancing with the Stars" competitor Erin Andrews.