VIDEO: Idina Menzel Performs 'Queen of Swords' on DANCING WITH THE STARS

On last night's DANCING WITH THE STARS, the six remaining celebrities danced a show-stopping dance to a song from a hit Broadway musical. (watch all the performances here!) To add to the episode's energetic theme, Idina Menzel performed her new single, "Queen of Swords," off her new self-titled album, and joined Bruno Tonioli, Carrie Ann Inaba and Julianne Hough as a guest judge. Watch her live performance below!

Tony Award-winning icon Idina Menzel's s voice can be heard as Elsa in Disney's global box office smash "Frozen," in which she sings the film's Oscar-winning song "Let It Go," and in the follow-up short, "Frozen Fever."

Menzel earned her first Tony nomination as Maureen in the Pulitzer Prize winner "Rent," and won the award for her performance as Elphaba in "Wicked." Other notable projects include "Glee" and Disney's "Enchanted." She embarked on a worldwide tour in 2015 that included Asia, UK and North America. In addition to cast albums, Menzel's prolific recording career includes the solo albums "I Stand," "Here" and "Still I Can't Be Still."

Her first-ever Christmas album "Holiday Wishes," released October 2014 on Warner Bros. Records, debuted at #1 on Billboard's Holiday Albums chart, broke into the top 10 on Billboard Top 200 Album Chart and received rave reviews. Menzel was most recently seen on Broadway as Elizabeth in the original production "If/Then," for which she earned her third Tony nomination.

Photo credit: ABC/Eric McCandless