The 30-year-old Dancing with the Stars pro brought Shai, her 2-month-old son with Maksim Chmerkovksiy, to meet The Bachelor star and his fiancée Wednesday.
"FINALLY!!! We can all be together," she captioned a group photo on Instagram. "Team Baby Got Bach is here guys and we CANT WAIT to perform for you on Monday @dancingabc #TeamNickandVanessa #TeamBabyGotBach."
Murgatroyd is partnered with Viall in Dancing with the Stars Season 24, while Chmerkovskiy will compete with Glee alum Heather Morris. She, Viall and Grimaldi also appeared Wednesday in a Facebook Live interview.
"[The Bachelor and Dancing with the Stars] are both incredibly difficult. Being the Bachelor might be one of the hardest things ever, but dancing hurts, like, physically is painful," Viall said. "As hard as they both are, they're a lot of fun."
"He's going to be awesome. We've been training really, really hard," Murgatroyd added. "We're doing cha-cha."
Viall and Grimaldi got engaged on The Bachelor Season 21 finale, which aired Monday. Murgatroyd and Chmerkovskiy, meanwhile, got engaged in December 2015, and welcomed Shai in January.
"I'm definitely a little bit nervous, but I'm very excited to get back," the new mom told Good Morning America in February. "I definitely missed the dance floor."
Dancing with the Stars Season 24 will premiere March 20 on ABC.