Hilaria Baldwin Says Having All 7 Kids in the Audience Is ‘Wonderful’ (Exclusive)

Hilaria Baldwin was supported by some very special guests in the audience during her latest Dancing with the Stars performance.

During Tuesday’s episode of the dance competition show, the mom of seven, 41, received huge support from her husband Alec Baldwin and their seven children, who sat in the front row as she performed the samba to the viral song “Shake it to the Max.” When chatting to PEOPLE following her performance, Hilaria shared how it felt to have her family rooting for her in the audience.

“The purpose of dancing is not just to feel and to enjoy the work that we do, but it’s to make people happy [and] to entertain people. We want to do this because we want to bring joy to people,” she tells PEOPLE. “And, so to have Kris [Jenner] and Alec and my children and Shangela and my friends here is so wonderful.”

The Baldwins share seven children together. The couple, who tied the knot in 2012, welcomed three daughters, Ilaria, 2, María, 4, and Carmen, 12, as well as four sons, Eduardo, 5, Romeo, 7, Leonardo, 9, and Rafael, 10. Alec is also dad to daughter Ireland, 29, whom he shares with ex-wife Kim Basinger.

Tuesday night’s episode isn’t the first time the Baldwinitos supported their mom during her Dancing with the Stars journey. After last week’s episode of DWTS, the yoga pro spoke with PEOPLE about how tense the eliminations were and shared that all seven of her kids were at the show.

“My kids came up to me and they said that they almost cried that I was standing there, so it’s like, ‘Let’s not do that again,’ because it’ll make me cry,” Hilaria said of the eliminations. “And it will make them cry, and then we’ll all be sad.”

The proud mom went on to say that some of her kids have attended her rehearsals ahead of the live taping of the show.

“Carmen’s come a couple of times,” Hilaria shared of her oldest daughter. “I’d like them to come more. The thing is that it’s such a short turnaround, and we have six days to get a whole routine, and this one does me no favors.”

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Hilaria also shared with PEOPLE why she didn’t have all of her kids with her at the premiere.

“I had four, my oldest four,” Hilaria said of her kids Carmen, Rafael, Leonardo and Romeo.

“I feel like maybe my youngest three would be running around the dance floor, and it could be a little bit…especially the baby. She’s so naughty,” added the mom of seven.

That same week, Hilaria shared a post on Instagram on Sept. 17 which showed her posing alongside husband Alec and their four older kids. Alec and their daughter Carmen could both be seen wearing hats that read “DWTS Team Baldwin.”

The post also included shots of Hilaria and Alec’s kids sitting next to the stage and posing together as she started her dance.

“What a dream! What a night!!! So grateful my family was there to watch 💚 . What a fun thing to share with my children 🩵 ,” Hilaria wrote in her caption.

“@alecbaldwininsta @stephenbaldwin7 and @alaiabaldwin …the hats you made 😭😂🩵. Love you all! And @glebsavchenkoofficial you are the best partner I could ever ask for 💛 @dancingwiththestars.”