For Robert Irwin , Dancing with the Stars was one big full circle moment.

The wildlife conservationist first stepped into the ballroom a decade ago at just 11 years old, when his sister Bindi competed on and won Season 21 with Derek Hough. Fast forward to Tuesday night, and he and pro Witney Carson the one being lifted onto his fellow competitors’ shoulders after being awarded the mirrorball trophy.

“I knew I wanted to live out that dream that I’d had since I watched my sister lift that trophy,” the younger Irwin sibling tells Deadline. “But I was just, honestly, it’s a cliche thing to say, but honestly, just to be there was enough for me. Just to make it to the finale felt like such a win in itself, because it meant I got to dance every dance that I could have and to really see it

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