Hilaria Baldwin is happy to get back to her ballroom roots on "Dancing With the Stars" ... so much so, she practically burst into tears after her big debut.

Check it out ... an emotional Hilaria chokes back tears while celebrating her stellar Cha Cha routine with Gleb Savchenko .

When host Julianne Hough asks Hilaria to explain her teary-eyed reaction, the yoga instructor explains she never thought she'd be here, given she said "goodbye" to ballroom dance 16 years ago after a hip injury.

And so, being a part of Season 34 has left Hilaria feeling "grateful." Gallery Launch Gallery Disney/Eric McCandless

Hilaria certainly made a splash with her first performance on 'DWTS,' donning a neon green number while Cha-Cha-Cha-ing to “Let’s Get Loud” by Jennifer Lopez . They

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