Chuy Bravo: Crashes TMZ Tour and Gets Freaky!!

Chuy Bravo crashed the TMZ Hollywood Tour Thursday ... in a BIG way!

Chelsea Handler's former talk show sidekick hopped on the bus and was immediately greeted with a complimentary lap dance from a passenger. To be clear, she is NOT on our payroll.

After the bump and grind, Chuy talked bout the feud between Chelsea and Heather McDonald. Check it out ... he remembers things much differently than Heather.