• Prince William and Kate Middleton sent a message of congratulations to Robert Irwin after his DWTS win
• During the season, William made a cameo on the show to tell Irwin he was missing him at the annual Earthshot Prize in Brazil
• The royals have been friends with the Aussie conservationist, bonding over their environmental conservation efforts

Robert Irwin is still basking in the glow of his big Dancing with the Stars win — and still receiving congratulatory messages from his famous friends, including Prince William and Kate Middleton.

“Congratulations Robert and Witney! ✨🪩,” the Prince and Princess of Wales wrote in the comments section of Irwin’s Instagram post.

On Nov. 26, Irwin shared a video on social media of the moment he and partner Witney Carson won season 34 of the dancing competition. “Dreams do come true ❤️,” Irwin captioned the post.

On Nov. 11, William, 43, made a surprise appearance on DWTS when he called the Australian conservationist to personally wish him good luck in the dancing competition. The Prince of Wales said he was missing Irwin at the annual Earthshot Prize, which was taking place at the same time in Brazil. Irwin serves as an Earthshot ambassador.

“We’re missing you, Robert,” William said in a video message. “Whilst your twinkle toes are going off elsewhere, I need you down here.” Addressing Irwin’s pro partner, he said, “You need to get him in as much glitter as you can.”

 “I can’t believe he just said my name!” Carson exclaimed.

Prior to the surprise call, Irwin explained on the show that he was supposed to be with Prince William at the annual awards ceremony, but instead he had to tell the prince that he’s “still here.”

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It’s not the first time Prince William surprised Irwin with a message. When the son of the late Crocodile Hunter star Steve Irwin appeared on a Radio 2 program last June, William called in to the show with the following voice note:

“Good morning, Scott, or should I say G’day, Scott?” William told the host Scott Mills.

“I know you’ve got the fantastic Robert Irwin on the show this morning, a brilliant ambassador for the Earthshot Prize,” William said.

“Sorry, I can’t be with you both this morning, hoping to catch up with you soon.” William then invited both Irwin and Mills to the Earthshot Prize, taking place in Brazil in November. “It’s going to be a fantastic event, great show,” the royal noted.

The Prince of Wales concluded his message by warning Mills that Irwin “likes to pull random terrifying animals and creatures out of his pockets while he’s on anyone’s show and talking to them.”

On Nov. 25, Irwin and Carson were crowned the winners of the Len Goodman Mirrorball trophy.

The victory came almost exactly 10 years after his elder sister, Bindi, 27, won the Mirrorball with her partner, Derek Hough. Robert says that achieving the same accolade as his sister means “everything to him.”

“To follow in those footsteps and to do the same has meant everything to me,” he exclusively told PEOPLE backstage after the finale. “This has absolutely changed my life.”

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