ABC
Samantha Highfill
September 08, 2014 AT 12:00 PM EDT

On Bachelor in Paradise, love can change in an instant. But now that Sarah and Robert have officially survived her brief flirtation with the idea of Brooks, the couple is stronger than ever.

In an exclusive look at tonight’s episode, Robert and Sarah get to take their relationship to that “next step” that always stands for an overnight date. As Sarah puts it, “Tonight is his perfect opportunity to get to know me in every way possible that he can get to know me off-camera.” Hey, remember when these two were too nervous to even kiss? Good times.

Bachelor in Paradise airs tonight at 8 p.m. on ABC.

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