Robert Irwin has won Dancing with the Stars US, spinning his way to the top spot 10 years after his sister, Bindi Irwin, won the same title.

Irwin will take home the show’s Mirrorball trophy alongside his professional partner, Witney Carson, after a season that saw some of the highest voting numbers in the program’s history.

Announcing the result, the host, Alfonso Ribeiro, declared: “The winners and new champions of Dancing with the Stars are … Robert and Witney.”

The show has developed a reputation as reputation management, with controversial figures often attempting to dance their way back into public goodwill.

But Irwin has been a beloved figure this season, with a marathon three-hour finale seeing him battle four other celebrities and their partners: influencer Alix Earle, Olympic gymnast Jordan Chiles, actor Elaine Hendrix, and Zac Efron’s brother, Dylan Efron.

Irwin cried after his performance, saying he wanted to make his dad, the late Steve Irwin, proud.

“I wish he could see it, I really wish he could be here,” he said.

Irwin and Carson on the Dancing with the Stars finale. Photograph: Eric McCandless/Disney/Getty ImagesThe finale capped off a record-breaking season for Dancing with the Stars. Photograph: Eric McCandless/Disney/Getty Images

Irwin went into the last show with a rib injury, with the pair having to adapt some of their choreography.

“I’ve been dealing with rib pain; it’s been getting progressively worse,” Irwin said pre-performance.

“If I pull something in the quickstep, I can’t do the instant dance, I can’t do the freestyle. But if I push any harder, my body’s going to break.”

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Bindi and Robert Irwin hold the Mirrorball trophies, with mum Terri. Photograph: Eric McCandless/Disney/Getty Images

The co-host Julianne Hough said the voting had been the highest in the show’s history, with the gap between Irwin and runner-up Earle the narrowest ever seen on the show.

Earle had received a perfect judge’s score of 90, while Irwin had tied with Chiles for 89. After the audience votes were tallied, the Australian came out on top.

His win came 10 years after his sister in 2015, when Bindi took the top spot at the age of 17.

Carson and Irwin with Dancing with the Stars presenters Julianne Hough and Alfonso Ribeiro. Photograph: Eric McCandless/Disney/Getty Images