The moment went viral as fans took to twitter to give their reactions.
The 29-year-old has now defended himself telling Entertainment Tonight the moment was “totally unintentional.
"I was just stargazed by Nick Viall & Petra's performance and I was looking at the TV screen. I felt her bump into me yet I wasn't really looking at what was bumping into me. There was some hand placement that went south, so to speak."