Derek Hough on Meeting Fellow 'Prince Charming' Harry at Invictus: 'I'm on a Mission'

The DWTS pro is competing in a wheelchair rugby match at Invictus

Photo: ABC

Battle of the Prince Charmings?

On Wednesday Derek Hough – who famously made fans swoon as the fairy-tale prince alongside his partner Amy Purdy on Dancing with the Stars – hit the same turf as the real-life royal First Lady Michelle Obama recently called “our Prince Charming.”

Hough is in Orlando, Florida, to promote Prince Harry‘s Invictus Games for wounded warriors. The DWTS pro is competing in the Jaguar Land Rover Wheelchair Rugby Exhibition Match Wednesday evening alongside Eric Decker, Jessie James Decker and team coaches Wilmer Valderrama and John Cena.

“It’s wild – a totally different ball game,” Hough tells PEOPLE of the full-contact sport. “Being here among these amazing athletes and people who defy the odds and shape their own destiny – I’m so inspired.”

Derek Hough Plays Wheelchair Rugby at Invictus Games

Of the Invictus motto, he says, “I love what ‘I am’ stands for. Putting those two words before anything is incredibly powerful.”

As for Prince Harry, “My friend was like, ‘If you don’t come back with a picture of Prince Harry, I’m going to disown you.’ So I’m on a mission.”

Meet the Inspiring Stars of the U.S. Invictus Team

So, any “Prince Charming” rivalry with Harry?

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“Oh, for sure,” Hough jokes. Asked if he’d like to get a photo with both of them in front of Cinderella’s Castle, he replied, “We gotta make that happen.”

(Seriously, how do we make that happen?)