Robert Irwin Praises Mom Terri for Her ‘Strength’ After Dad Steve’s Death: ‘Made Sure I Never Felt I Missed Out’ (Exclusive)

Robert Irwin is feeling grateful for his mom Terri Irwin.

Speaking exclusively to PEOPLE after Dancing with the Stars’ “Dedication Night” on Tuesday, Oct. 14, the conservationist, 21, who performed with Terri, 61, in a special tribute on the show, praised her for her “strength” after his dad Steve Irwin’s death and for taking care of him and his sister Bindi.

“I think, growing up, there’s certain things as a kid that you don’t realize. I mean, a credit to my mum, I never felt as though I ever missed out on anything in life,” Robert tells PEOPLE.

“I always felt, obviously, I was missing a very big part of my life, but she made sure that I never felt I missed out,” he says of Terri, 61. “I got to have such an incredible childhood. But then, as you get a little bit older and you look back and get perspective.”

Steve died at age 44 in 2006 after being pierced by a stingray barb while filming in Australia.

Robert said now he realizes the “strength” his mum “had to keep going” after his father’s death. “Let alone to continue the legacy that my dad started with her, but also to raise us kids,” he tells PEOPLE.

The DWTS contestant’s comments come after he gave an emotional performance with his partner Witney Carson to Phil Collins’ “You’ll Be in My Heart” in honor of his mom Terri for DWTS’ Dedication Night episode on Tuesday.

Terri joined Robert and Witney on the dance floor as the number came to a close, while his sister, Bindi, 27, ran to hug him before he received his scores from the judges.

The moving performance brought Robert to tears, along with judges Derek Hough and Bruno Tonioli, while Terri also appeared visibly emotional throughout.

Hough, who was partnered with Bindi on DWTS, tearfully told Robert “The love I have for you family. I just have so much love you guys. I’m so proud of you. I really am. Just you become such amazing man and the world needs the Irwin family.”

“For so long, all I’ve wanted to do is just express my gratitude to her,” Robert tells PEOPLE after the touching tribute. “And so, to finally be able to do that in a way where I can give 100 percent of myself physically, emotionally in this dance … is just everything.”

He added that his performance was also given in tribute to “all of the strong, single parents of the world to keep going.”

As for what he has learnt from his mom, Robert says Terri, “teaches me every day what it is to put one foot in front of the other even when it’s so hard to do that,” adding that she is “such a kind and vulnerable and strong and steadfast human being.”

“I think one of the things that I think is so important that my mum exemplifies is how to be strong,” he continues. “And I think so many people forget what strong means. You think strong is like steadfast, you show up, you just carry on, and everything’s fine. That’s not what strength is. True strength is being able to find and feel your own vulnerability, your own emotion, and use that to carry yourself and to hopefully try and help others and to create a community.”

Ahead of his performance on the show, Robert continued to praise his mom for filling in the role of both his parents while growing up.

“At every milestone, when I just wish that my dad was there, she was there, and that was enough,” he said during a confessional on the show. “I struggle a lot with losing dad a lot … she always made sure my dad was present in our lives. I wanted to know how proud my dad would be of her.”

Tonioli tearfully said as he gave his score afterwards, “[Your father is] looking at you, kid, and he’s smiling.” Meanwhile, guest judge and former DWTS winner Kym Johnson added to Terri, “You’re just an incredible woman.”

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DWTS airs Tuesdays at 8 p.m. ET on ABC and Disney+.