'Dancing with the Stars' crowned their season 34 champion!

After weeks of dancing, injuries, and heartfelt moments, “Dancing with the Stars” awarded Robert Irwin the coveted Len Goodman Mirrorball Trophy!

Robert’s sister Bindi won the same title 10 years ago, bringing about a beautiful full-circle moment.

Speaking after the result was announced, Robert cried as he said, "My sister said it best: Thank you for changing my life!"

His partner, Witney Carson, added, "I'm so grateful for Robert, honestly — I already feel like I won with him as my friend and I can't thank you enough."

The couple performed a quickstep to Jet's “Are You Gonna Be My Girl” for the Judges' Choice round, as well as a freestyle to “Black and Gold” by Sam Sparro and “The Nights” by Avicii. In addition, the Instant Dance round saw them perform a cha cha to DNCE's “Cake by the Ocean.”

Robert suffered an injury the day before the big finale, impacting some of their planned routines.

“Today at [camera] blocking is a little stressful because we just have to make the freestyle all come together. Robert’s ribs have been killing him and more will be revealed on Tuesday and you guys can get a better idea of what we’ve been dealing with all week,” Carson explained in a TikTok video before the big night.

But Robert pulled through to take home the title ahead of Alix Earle and Val Chmerkovskiy in second, Jordan Chiles and Ezra Sosa in third, Dylan Efron and Daniella Karagach in fourth, and Elaine Hendrix and Alan Bersten in fifth.

Co-host Alfonso Ribeiro revealed the finale had broken several records for the show. More votes were cast for the top two, Robert and Alix, than any top two in the show's history and the difference between them was closer than ever.

More than 72 million votes were cast during the finale, and over 500 million in total throughout the series.