Robert Irwin , who's cha-cha-chaed his way into viewers' hearts on Dancing With the Stars , says his late dad, Steve Irwin , left him a moving message that changed his life.

RadarOnline.com can reveal, the Crocodile Hunter star died in 2006 after being pierced in the chest by a stingray's tail while filming a documentary .

Now 21, Robert was just 2 years old when his dad passed away, but Steve left him a video he hoped would guide his son if the worst ever happened. Article continues below advertisement

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In it, Steve explained how he was building a heritage to leave to his children, that he was "creating something t

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