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Robert Irwin is sharing what he and Witney Carson discussed before their Dancing with the Stars victory

"We know what this represents," Robert told PEOPLE on Tuesday, Nov. 25

The pair performed a quickstep, freestyle and cha cha before securing the Mirrorball Trophy on finale night

Robert Irwin and Witney Carson are detailing the pep talk they gave each other before heading home with the Mirrorball Trophy.

After the pair were announced as winners of Dancing with the Stars' 34th season on Tuesday, Nov. 25, the wildlife conservationist revealed to PEOPLE what they discussed before learning of their victory.

"We just said, 'It doesn't matter what happens now,' " Irwin, 21, recalls. "We're so grateful that we're here and we know what we've put in and we know what this

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