Robert Irwin and Witney Carson are the season 34 winners of "Dancing with the Stars."

With another season of "DWTS" in the history books, now is the perfect time to look back on the show's long legacy -- reaching all the way back to when the show premiered two decades ago on June 1, 2005.

Each season, celebrities are paired with a professional dancer for their "DWTS" journey. Every week, the pairs tackle routines in pre-determined style -- and often based on a theme -- and are judged on their performance.

The celebrity-pro couple who receive the lowest combined score between judges and viewers is eliminated, and this continues each week until only one remains: the champions, who win the coveted Len Goodman Mirrorball Trophy.

Previous winners include legendary sports stars, iconic musicians, beloved Hollywood actors and everyone in between.

Scroll down for a full list of past winners and their pro partners:

Season 1: Kelly Monaco and Alec Mazo

Season 2: Drew Lachey and Cheryl Burke

Season 3: Emmitt Smith and Cheryl Burke

Season 4: Apolo Ohno and Julianne Hough

Season 5: Hélio Castroneves and Julianne Hough

Season 6: Kristi Yamaguchi and Mark Ballas

Season 7: Brooke Burke and Derek Hough

Season 8: Shawn Johnson and Mark Ballas

Season 9: Donny Osmond and Kym Johnson

Season 10: Nicole Scherzinger and Derek Hough