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Dancing with the Stars' Kym Johnson and Robert Herjavec Are Engaged!

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It’s a match made in reality TV heaven!

Former Dancing with the Stars partners Robert Herjavec and Kym Johnson are engaged, PEOPLE can exclusively confirm.

“I still can’t believe that a year after walking into a dance studio of all places, my life has changed this much,” Herjavec, who popped the question with a gorgeous 6.5-carat ring, tells PEOPLE. “Kym is an incredible woman and I’m just so excited for what the future brings for us.”

After the proposal, the couple returned home where they were greeted by over 30 friends and loved ones, including Kym’s mom from Australia, some of her Dancing with the Stars friends and close pal Carson Kressley, among others.

“To celebrate tonight with our family and friends, and my mom who flew in from Australia, wow – I’m just overwhelmed and so happy,” Johnson tells PEOPLE. “He’s a wonderful man and I’m so lucky”

The dancing pro, 39, and her Shark Tank star fiancé, 53, were paired up on Season 20 of the show last year and began dating ten months ago.

“We were friends first,” Johnson told PEOPLE in January. “We got to know each other on a friendship level. That developed into something else. We’re both each other’s number one fans, and have respect for each other.”

This will be the first marriage for Australian-born Johnson, who recently launched her 5678 Diet book and 5678 Fitness DVD. Herjavec has three kids with his ex-wife.

Just last month, Herjavec joked that he would be happy if his girlfriend decided to pop the question.

“Here’s the great thing, it’s a leap year,” Herjavec told PEOPLE. “On a leap year, the custom is for the women to ask.”

After jokingly going back and forth about potential engagement scenarios and what wine would be served, Herjavec said to Johnson, “Any wine is fine. I’m not picky. As long as you’re there.”

Cheers to a lifetime of sambas and salsas for the happy couple!