Robert Irwin and Witney Carson just hit a major achievement on Dancing With the Stars !

The 21-year-old wildlife conservationist and his pro partner earned the first perfect score of season 34 during Tuesday night’s (November 11) episode, celebrating the show’s 20th anniversary.

For their routine, Robert and Witney performed a foxtrot set to “Footprints in the Sand” by Leona Lewis , inspired by his sister Bindi Irwin ‘s season 21 freestyle and dedicated to their late father Steve Irwin . Bindi even joined the dance at the end.

“There’s a lot of weight,” Robert said during their package, “because I really want it to be our best dance yet, to be honest.”

Carrie Ann Inaba called the routine “so powerful and profound.”

Once it came time for the judges to

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