Shark Tank Robert Herjavec Engaged To DWTS Kym Johnson

Former Dancing with the Stars partners Robert Herjavec and Kym Johnson are engaged to be married.

Johnson, 39, and Herjavec, 53, were dancing partners on Season 20 of the show. They began dating 10 months ago.

“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.” “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.” h/t ew

It’s the first marriage for Aussie-born Johnson. Herjavec, who was recently divorced, has three kids with his ex-wife.