Robert Herjavec Reveals the Most Memorable Moment from His 'Epic' Wedding to Kym Johnson

Robert Herjavec opened up to PEOPLE Now about his favorite moment with wife Kym Johnson on their wedding day

Robert Herjavec and Kym Johnson‘s July 31-fairytale wedding was filled with a lot of surprises — including a serenade from Olivia Newton-John and an all-star dance party. But the moment that Herjavec considers the best most was far more simple.

Sitting down with PEOPLE Now on Wednesday, the 54-year-old revealed all.

“There was so much activity and so much going on,” he said. “I think the best moment was standing there and seeing her come around the corner for the first time in the dress. It was epic — she looked so beautiful. I was so luck to meet her and it was such an incredible day.”

“That’s what it was really about — the two of you. All the other entertainment was fun and it was a great party, but it’s really about that,” he continued.

Anthony Vazquez Photography

The two met and fell in love on Dancing with the Stars — and their wedding-bell highs haven’t died down yet.

“We have such a great relationship,” Herjavec said. “We started out on the show — it’s like we’ve know each other since day one. So in some ways, it’s still exciting, we just got married. But in other ways, I feel like I’ve known her forever.”

And though life has improved now that he’s married Johnson, one thing hasn’t gotten better for Herjavec: his dancing.

“I’m not getting any better at dancing,” he said.

RELATED VIDEO: How Kym Johnson and Robert Herjavec’s Wedding Day was Almost Ruined by a Candle!

That hasn’t stopped Herjavec and his wife for taking a turn on the dance floor, of course.

“I love to dance, even though I’m awful,” he revealed. “My ultimate dancing moment, [was when] we were in Cabo San Lucas at this Mexican restaurant. There was a band and people were dancing. and just before we go up there, [Kym] teaches me a quick salsa. And so we go up there and we dance, and everybody clears the dance floor. And when we’re done, everybody stands up and claps.”

“That was the ultimate. What guy doesn’t have that dream?” he added.

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