Robert Irwin breaks down in tears about dad Steve before honouring his legacy

It's safe to say there wasn't a dry eye in the house last night (October 14) when Robert Irwin honoured his parents with an emotional tribute on Dancing With The Stars.

The wildlife conservationist, 21, and his dance partner Witney Carson, 31, have been firm fan favourites during the competition, and the most recent show was no different.

Robert paid homage to both his mom Terri Irwin and his late dad Steve Irwin during the show's 'Dedication Night', which sees the remaining pairs take to the ballroom floor to honour influential figures in their lives through heartfelt performances.

The duo danced to Phil Collins' song 'You’ll Be in My Heart', and the tear-jerking episode also included a cameo from mum Terri, 61.

Before hitting the dancefloor, Robert broke down in tears as he talked about his parents, and what it was like to lose his dad at such a young age.

Robert Irwin dedicated a dance to his mother Terry and late dad Steve yesterday (ABC)

Robert's dad, Crocodile Hunter star Steve Irwin, passed away aged just 44 years old on 4 September, 2006, which also happens to be Father's Day in Australia.

His tragic death was unexpected and was caused by an unprovoked attack from a stingray while the wildlife conservationist was filming an underwater documentary in the Great Barrier Reef.

Speaking about how mum Terri was there for him, Robert couldn't contain his emotions as he told the crowd: "'She's an absolute hero to me, because I was two when I lost dad.

'As I got older, I started to realise just how hard it would have been for her to be there for us, and all the while continue dad's legacy that her and dad built together."

He continued: "I've never been able to capture the feeling of gratitude I feel for her. At every milestone, when I just wish that my dad was there, she was there, and that was enough."

In the final moments of the routine, Terri appeared for a cameo and the mother and son emotionally hugged and Robert broke down in tears on the dance floor.

After the dance, Terri said: "I love him so much, and I'm so blessed to be his mum," to which Robert replied: "This dance is for my mum, and for all the mums who don’t get the recognition they deserve. If you can, call your mum and tell her you love her."

Speaking to her son during rehearsals, Terri heartwarmingly revealed that it was actually Robert and his sister Bindi, 27, who helped her heal following her husband's death.

She explained: “After we lost Steve, it was difficult to smile again. For quite a while. So for him to say, ‘You lifted me up,’ honestly, it was the opposite.

"Because of them, I could get up every morning. Every day I'm a proud mama."

While Robert added in a confessional: "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."

Fans have since rushed to social media to compliment Robert's vulnerability and his dedicated dance.

Someone wrote on Instagram: "This dance was beautiful! I was in tears" while a second added: "I CRIED LIKE A BABY!!!! The dance was absolutely beautiful."

Others chimed in with: "I was bawling at the end of his dance! Steve would’ve been so proud!" and "That was beautiful. I cried when their dad died. The most incredible family."