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WATCH: Terry Crews, Jimmy Fallon "Nip Sync" on "The Tonight Show"

Crews also talked about his new book “Manhood” that deals with relationships and admitting to mistakes.

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    Actor Terry Crews and Jimmy Fallon sang a shirtless duet of the Paul McCartney and Stevie Wonder hit "Ebony and Ivory" on "The Tonight Show." (Published Tuesday, May 20, 2014)

    Actor Terry Crews and Jimmy Fallon sang a shirtless duet of the Paul McCartney and Stevie Wonder song "Ebony and Ivory" on "The Tonight Show."

    First, Crews talked about his new book “Manhood” that deals with relationships and admitting to mistakes.

    “I have been married for 25 years, I have five kids, I’m a grandfather and I have done the dumbest things you could ever imagine,” Crews said. “I’m a man! We have dumb periods. I had to write down all my mistakes and I was honest to help someone else not be stupid.”

    Then, Fallon brought up the “Brooklyn Nine-Nine” star’s failed stint as a football player.

    “I got cut almost every year,” Crews said. “I learned failure, it was my buddy. I had to understand that I needed to be harder, because if you fail in front of everybody you learn something. So every day I kept going with the NFL, with my acting, but I realized that with every failure I got a little bit higher and that no is negotiable. It means for now no but in the future it may be yes.”

    “Firemen have to say don’t break down the door, because a lot of times the door is open,” Crews said.

    Fallon also brought up fellow “Saturday Night Live” alum Adam Sandler’s new movie “Blended,” in which Crews plays a “South African Tom Jones,” whose performances often include shirtless pec-bouncing.

    To prove he could match Crews' skill in the chest movement department, Fallon enlisted the actor to sing a soulful duet of “Ebony and Ivory.” Crews was shirtless while Fallon’s buff body was the work of a green screen.

    Watch the performance above.