Robert and Kym Herjavec Share 'Magical' Photos with Their Twins at Hawaiian Disney Resort: 'Unforgettable'

The former 'DWTS' dancer and her husband share twins Hudson and Haven

Robert and Kym Herjavec are giving their twins a "magical" vacation!

On Tuesday, The Shark Tank judge, 61, shared a carousel of photos on Instagram with his wife, Dancing with the Stars alum Kym Herjavec, and their twins Hudson Robert and Haven Mae, 5, from the family's trip to Disney Aulani in Hawaii.

Smiling with a life-size Mickey Mouse, the family of four poses for a sweet photo, with the twins matching in festive palm-tree printed outfits.

Robert also included a video of his daughter snorkeling, a photo of the twins meeting Minnie Mouse and Goofy and a cute photo of the siblings on the beach.

"Thank you @disney @disneyaulani for an unforgettable family break ! The most magical place in Hawaii - it was a blast !" the proud dad wrote in his caption.

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Related: Kym Johnson Herjavec Takes Son Hudson on His 'First Swim' — and Jokes the Jet Ski Is Next!

In addition to his twins, Robert is dad to daughters Caprice and Skye, as well as a son named Brendan, whom he shares with ex-wife Diane Plese.

For Halloween this year, Robert, Kym and their entire family dressed as lions, donning matching lion onesies and posting a sweet family photo on Instagram. Even their dog got in on the fun, wearing a lion's mane around his neck.

"It’s the scariest time of the year ! Thanks @tipsyelves - our little pride got a ton of compliments !" Robert wrote in his caption.

Before giving birth, Kym said the couple were very excited to become parents.

“He’ll be really hands-on and he’s going to be great. He’s going to be such a good dad,” Kym said of her husband. “He’s already talking to them and telling stories.”

She told PEOPLE the two were planning to “go with the flow” when it came to raising two babies at once.

“I don’t know how we’re going to juggle the two, but [we’re] just going to go with the flow of it,” she explained. “I’ve been reading all these books but they make you crazy a little. I’m trying to be prepared, but I think you just have to wait and see.”

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