Robert Irwin didn’t leave one dry eye on Dancing with the Stars .

The wildlife conservationist paid a special tribute to his mom Terri Irwin and late dad Steve Irwin during “Dedication Night” Oct. 14, as he and partner Witney Carson delivered a contemporary routine to Phil Collins ' “You’ll Be in My Heart”—which also included a cameo from mom Terri.

“She's an absolute hero to me, because I was 2 when I lost dad,” Robert shared about his mother during his intro. “As I got older, [I] started to realize just how hard it would have been for her to be there for us, and all the while continue dad's legacy that her and dad built together.”

The 21-year-old struggled to speak through his tears, adding that he’s “never been able to capture the feelin

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