“Dancing with the Stars”' Gleb Savchenko Explains That Steamy Kiss with Partner Brooks Nader: 'It's Natural and It's Awesome' (Exclusive)

After shocking viewers with a kiss during rehearsals, Gleb and Brooks tell PEOPLE that they're "having a good time"

Gleb Savchenko and Brooks Nader are not feeling shy after sharing a kiss during Dancing with the Stars rehearsals.

Ahead of their quick step to Dolly Parton's "9 to 5," viewers watched Gleb and Brooks' rehearsal footage from the week, which included a tender moment where the partners shared a kiss.

"We were getting into character," Brooks tells PEOPLE after the show.

Gleb, 41, reiterates that the pair were "just rehearsing" for their performance. However, he does admit that things between them are getting more and more intimate.

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"When we get to dance with each other for five hours a day, and we're so close and personal and she looks like that, we just kind of develop that kind of chemistry," he says. "It's natural, and it's awesome. We're hanging out and it's just having a good time, living life."

Brooks, 27, backed him up, saying, "It's amazing," and Gleb adds, "It's the best."

Speaking to the whole experience, Brooks says she is "having the time of my life" as she goes into week three.

"This has been so life-changing honestly and it's been emotional and hard work and physically and mentally, everything [is] challenging, which I really love and appreciate. And I get to hang out with Gleb every day for five-plus hours, which is a treat."

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Gleb says he's "so proud" of the model, who earned a 20/30 from the judges for the routine.

"I think she's got a great awareness of her body, obviously great coordination and just physically, aesthetically looks very, very beautiful, very together, no matter what she does," he praises his partner.

Gleb and Brooks are keeping things playful when it comes to the nature of their relationship off the dance floor, but Brooks has seen many changes in her personal life this year. In December, she and her husband of four years Billy Haire separated.

Her rep told PEOPLE at the time that they had been "living apart for months" and the split was "amicable."

In July, she and Prince Constantine Alexios of Greece attended Olivia Culpo and Christian McCaffrey's wedding together. The pair were seen holding hands as they enjoyed the nuptials.

Later that month, though, a source told PEOPLE she and Tom Brady had been spending time together during the summer, but noted things were "casual" between them.

This year has also seen relationship changes for Gleb, who split from his model girlfriend Elena Belle in April after nearly three years.

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Dancing with the Stars airs Tuesdays at 8 p.m. ET on ABC and Disney+ and streams the next on Hulu.

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