‘Dancing With the Stars’ Week 5: Robert Irwin Leaves Judges in Tears With ‘You’ll Be in My Heart’ Dance on Dedication Night

It was a teary night in the ballroom as the “Dancing With the Stars” contestants honored a dance to the ones that mean most to them.

Each star had the opportunity to not only dedicate their dance but also include their honorees into the routines for the first time in the show’s history. Contestants honored their mothers, siblings, best friends and even co-stars. Two-time “Dancing With the Stars” champion Kym Johnson joined the judging table to give her feedback throughout the night.

Tuesday night 10 stars competed emotional routines, but one couple had to be sent home. Hosts Alfonso Ribeiro and Julianne Hough announced that the show hit another voting milestone,…