Robert Irwin Admits ‘I Really Wish Dad Was Here to Watch’ Him Compete on Dancing with the Stars: ‘He’d Be Stoked’

Robert Irwin is opening up about how his late father, Steve Irwin, would have reacted to him competing on Dancing with the Stars.

In an exclusive chat with PEOPLE at DWTS on Tuesday, Sept. 23, the conservationist, 21, says that he “wishes” his dad Steve was “here to watch” him compete on the show, and he believes Steve would have loved seeing him perform.

“I’m doing this and I do what I do in life to make him proud,” Robert adds of his late father, who died in 2006. He also notes that his dad would have been “stoked” to see him on the show.

“Dad was the person who just gave everything he did, everything he had truly. And this experience, that’s what you’ve got to do. You’ve got to show every side to yourself. You’ve got to put every single fiber of your energy into this, and you get all of that back,” he adds.

As for his experience so far on DWTS, Robert describes it as “amazing.”

“You get this feeling of just flying,” he adds.

On the show itself, Robert discussed the impact his father has on fans, right to this day.

“There isn’t a day that goes by when someone isn’t sharing how dad inspired them,” Robert said. “It means everything to me, because every year I live, I actually feel closer to my dad.”

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On the episode, Robert impressed the judges with his tango routine, performed with his partner Witney Carson.

Judge Bruno Tonioli told Robert that he was in “leading man mode,” while fellow judge Carrie Ann Inaba said, “This level of competition is insane. Your charisma is off the charts.”

Derek Hough, meanwhile, described Robert’s performance in one word. “Crikey,” he said, referencing Robert’s dad Steve’s famous saying.

Robert tells PEOPLE his expereince so far on the show has been “surreal,” adding, “I’m just happy I get to be in this room and to be doing this with Witney.”

“It’s such an honor, but we’re here to pump in some positivity. We just really want to bring a sense of joy and fun and passion … She’s just the absolute best, and we’re a great team,” he continues.

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Dancing with the Stars airs Tuesdays at 8 p.m. ET on ABC and Disney+.