LOS ANGELES — Robert Irwin and professional dance partner Witney Carson were crowned champions of "Dancing With the Stars" Season 34 on Tuesday night, taking home the coveted Len Goodman Mirrorball Trophy after a three-hour finale on ABC.

Irwin bested four other finalists in the most demanding finale in the show's 20-year history, featuring three rounds of competition: a judges' choice dance, an instant dance challenge and a freestyle routine.

Season 34 marked the 20th anniversary of "Dancing With the Stars" and became the show's most-watched season in several years.

Irwin, the 21-year-old wildlife conservationist — whose sister Bindi Irwin won Season 21 in 2015 — performed a quickstep to "Are You Gonna Be My Girl" by Jet for the judges' choice round and a freestyle to "Black & Gold

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