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Robert Irwin danced in honor of his mom Terri on Dancing with the Stars ' Dedication Night

Irwin performed to Phil Collins' "You'll Be in My Heart" alongside his partner Witney Carson on Tuesday, Oct. 14

The DWTS contestant previously opened up about the "emotional" week he had preparing for the show

Robert Irwin is honoring his mom — and moving the Dancing with the Stars ballroom to tears.

The conservationist and current DWTS contestant, 21, performed an emotional dance to Phil Collins' "You'll Be in My Heart" with partner Witney Carson as part of the show's Oct. 14 Dedication Night.

Before he and Witney hit the stage, he opened up to her about choosing his mother Terri Irwin , 61, for Dedication night. "I've never been able to capture the feeling of gr

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