Robert Irwin and Witney Carson have been changed for good since becoming partners on Dancing With the Stars .

And for Wicked night on Oct. 21, the wildlife conservationist and the dance pro will be performing a jazz routine to "Dancing Through Life."

You could say their friendship has been magical from the beginning. Remembering Witney from when his sister Bindi Irwin won Dancing With the Stars in 2015, Robert just had a hunch they’d be paired together once he was ready to step into the ballroom himself.

"As a family we would always kind of talk about, 'I bet I’d end up getting partnered with Witney,'" he said on the Oct. 15 episode of The Viall Files . "It was this weird feeling I had."

So when they actually were matched up, Robert continued, it felt like a "full

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