“We Danced to It Someday” — Robert Herjavec’s Anniversary Tribute Melts Hearts

Robert Herjavec and Kym Johnson Herjavec may not have waltzed into the finale of Dancing with the Stars — but they did dance their way to a happily ever after.

The Shark Tank star, 62, celebrated his nine-year wedding anniversary with his dancing pro wife, 48, in an Instagram post of the two on their wedding day, and revealed the importance of their first dance to Etta James' “At Last.”

Robert shared that he and his wife — who met when they were paired up on Season 20 of DWTS — had “prepared one more routine” to James’ hit song before they were voted off the reality show. But he had faith that they would get around to it eventually.

“I looked at her and said, ‘Don’t worry, we’ll dance to it someday.’ And we did—at our wedding, with Kym singing alongside the incredible [Olivia Newton-John] who was kind enough to perform for us,” he shared in the caption of his post.

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“Sometimes your dreams come true… And sometimes, they just keep getting better every year,” he continued. “Happy anniversary, baby. Love you always. ❤️”

Alongside the memory, Robert shared a throwback photo of them on their wedding day, with him giving his bride a big kiss on the cheek as they posed at the end of the aisle. Kym could be seen smiling happily in the photo as she received his kiss.

The pair knew from the start that it was love, as they got engaged ten months after they started dating in March 2016 and then tied the knot in October of that year.

Kym wore a Monique Lhuillier strapless gown as she said “I do” to Robert in front of their family and friends, including DWTS alums Joey Fatone, Lance Bass and Donny Osmond. The two would later welcome twins Hudson and Haven, born in 2018.

The Hunting Housewives star opened up to PEOPLE last year about how grateful she is for her family of four — and what it means to have found love, marriage and motherhood later in life.

"We had our twins later in life. I got married later in life," the mom of two says, who welcomed her twins at 41. "And it just made me realize you really do have to trust the timing of your life. I was thinking, 'Gosh, am I ever going to find the one?' And I'm glad I just didn't settle just for the sake of it."

"But it's truly a miracle. And to have met Robert, who is incredible, so supportive and my best friend, and then to have these miracle children was just absolutely amazing. So I couldn't be happier. I have to pinch myself. It's truly magical," she added.

Robert echoed the same sentiments in an interview with PEOPLE in June and shared that he couldn't be happier with his wife and two children, whom he tries to spend "every waking moment" with.