Robert Irwin had the entire ballroom in tears during Dancing With the Stars' Dedication Night. The 21-year-old Australian conservationist dedicated his dance on Tuesday, October 14, to his mom, Terri Irwin, who raised him and sister Bindi Irwin as a single parent after dad Steve Irwin's death in 2006. Robert and his pro partner, Witney Carson, performed a touching contemporary routine to the song "You'll Be in My Heart" by Phil Collins - which Terri, 61, joined at the end. The mother-son duo shared an emotional moment as they embraced on the dance floor. After the show, Robert told Us Weekly that he thinks his dad would've "felt such immense pride" for Terri. Why DWTS' Robert Irwin Says He's Had an 'Emotional Week' in Rehearsals "They were just an incredible team," he told Us of Steve and Terri, who were married from 1992 until his death. (Steve, known as the Crocodile Hunter, died at age 44 after sustaining heart injuries from a short-tail stingray barb that pierced his chest.) Robert continued: "What they did together, I feel like they exemplify just true love and what soulmates are. But also they created this legacy for our family to continue, for me to continue. They created something that was so much bigger than themselves. They inspired an entire generation. They created wildlife conservation efforts and humanitarian projects across the world. And the fact that my mom was the one person, when we lost Dad, to step up and say, 'I'm going to keep this going and I'm going to make sure that is felt.' It is just such a powerful thing. My dad would be so proud of my mom, and I think he'd be really proud [of] tonight. I really think he would be." Robert was also proud of himself and Witney, 31, for performing a dance that captured the "feeling of grief" while celebrating "the story of a mom keeping an entire family together." "Mothers really are, I think, the strongest on earth," Robert said. "The fact that we could share this story was so meaningful, but the fact that it really seemed to resonate with people is just everything to me and everything to us. We all experience all of the emotions in life, all of the highs and lows. We all experience grief. We all have people who lift us up and we can all try to be that person for someone we love. And it was really an expression of so much emotion, and I'm just so grateful. It was amazing." Aldonso Ribeiro, Terri Irwin, Robert Irwin and Witney Carson on DWTS Dedication Night. Disney/Eric McCandless Robert also praised Witney's choreography, saying she not only captured motherhood but gave him "this avenue to express gratitude for someone who means so much in my life." Witney said that she was "incredibly honored" to choreograph the dance as a mom herself. (The dancer shares two sons, Leo, 4, and Jet, 2, with husband Carson McAllister.) "Being a mom is the biggest privilege that I could have, and my boys mean everything to me. And my husband lost his dad six years ago, so it felt very close to home creating this piece," she told Us. "And it felt very natural in a way because I knew exactly what Robert was trying to tell in his story. But it was a beautiful moment, I think, for everyone, for my family and his family and us together as a team. And it really felt just very special." Robert said there were "a lot of tears" following the dance - not only from the judges but from both his and Witney's families as well. "For both of us, family is why we're here. It's everything," Robert told Us. "And it was so special to have my core family unit. It's been the three of us for a long time, and our family has grown over the years, and it's just so beautiful to have that love and that light." Bindi, 27, and her husband, Chandler Powell, as well as their daughter Grace, 4, have been in the audience with Terri, cheering on Robert week after week. Robert Irwin Shares What Late Dad Steve Would Think About 'DWTS' "I had everyone, my brother-in-law, Chandler, who's just the best bloke, an incredible dad, and my niece is in there and my sister," Robert said, noting of his post-dance hug with Terri and Bindi, "My sister came out onto the floor and she's like, 'I got to be in on this group hug.'" "It's so special," he shared, adding that Witney is now an honorary Irwin. "I've got another older sister that's come in and I'm very grateful for that." (c)Jim Smeal/Ron Galella Ltd. 2002 im Smeal/Ron Galella Ltd. Robert and Witney received a 35 out of 40 for their dance, with the judges praising Robert and the Irwin family. "Robert, he's looking at you, kid. And he's smiling," Bruno Tonioli said of Steve. "You gave us all of your heart and soul. This was the true expression of everlasting love." Carrie Ann Inaba added, "You know, I've never had kids. But Terri, I have to say, if I could've had kids, I would like him to be like Robert. Your son is an impressive man, and it shows in his dancing. ... It was really beautiful." Dancing With the Stars airs on ABC and Disney+ Tuesdays at 8 p.m. ET.