“I've Seen the Underwear Ads”: Witney Carson jokes about teaming with Robert Irwin on ‘DWTS’ after watching him grow up

Witney Carson and Robert Irwin are partnered up for the upcoming season of Dancing With the Stars, and the duo is reminiscing on their history and how they met each other.

In an exclusive interview with PEOPLE, the dance partners revealed that they met each other for the first time when Robert’s older sister, Bindi Irwin, was a contestant in the 2015 DWTS season. 21-year-old Robert Irwin stated that he was a little kid when he met Witney:

"Well, I've known Witney for 10 years. Technically, I first met Witney only briefly, but when I was like a little tiny kid.”

Robert expressed his excitement for having Witney as his partner, adding that he felt protected:

"When I say I was over the moon, and to be honest, like the first feeling I got opening the door and seeing you standing there was just like this sense of like, I just felt just like protected,” he says. “I just felt really safe. It's just nice.”

Witney, who met her DWTS partner when he was a little kid, told the magazine that she was thrilled to be in a pairing with him because of how far they’d come. She jokingly alluded to Robert’s underwear campaign for Bonds, saying that the latter was grown now:

“I just feel like a sense of responsibility, kind of even though you're grown. I've seen the underwear ads, so I understand you're grown!"

“It’s all this, like, exciting, nervous adrenaline rush," Robert Irwin talks about his upcoming feature on Dancing With the Stars

In an exclusive interview with US Magazine, Robert Irwin expressed his fear of dancing in front of other people.

"It’s all this, like, exciting, nervous adrenaline rush, but it’s good nerves,” he added. “It’s this feeling of, like, you get to push yourself, you get to create this amazing, life-changing experience. It certainly was for my sister, like she said."

She added:

"It’s literally a life-changing experience. So, yeah, I’m just excited to get in there and try that for myself. But it all terrifies me — all the glitter, everything. It’s all new but in the best way.”

Notwithstanding, Robert Irwin added that his rehearsals had been “awesome” and he had been learning a lot from Witney. He stated that his sister has supported his dreams, moving to LA to be with him through his journey in the competition.

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