Hilaria Baldwin Details "Last Minute" Decision to Join DWTS

But, as the 41-year-old said, "I did it and I'm here and I'm happy."

And, while she might not have been mentally prepared for the competition, Hilaria shared that she's just hoping to soak up the entire experience alongside partner Gleb Savchenko, regardless of how long it lasts.

"Whether you're the first eliminated or you win, it goes so fast," she explained. "It ends so soon, and it's just such an amazing environment. Like, every single person here is nice and supportive and it's such a warm environment. Who would've thought? I'm just trying to be grateful for every day, because we're here to dance and have fun."

The mother of seven also expressed her gratitude over her family backing her leap of faith onto the dance floor.

"I'm very grateful that my family is here and supporting me," she gushed. "I think being a mom, your job is to support everybody else and often put yourself last. And I love that, I'm there and I'm as hardworking being a mom as I am dancing on the floor."

"So I think that it's just fun to go out there be like, 'Oh you guys are supporting me doing this!" Hilaria continued. "It's fun and we can all have a good time."

The Baldwins star, who wore a sparkling lime green mini-dress adorned with feathers for her cha-cha to Jennifer Lopez's "Let's Get Loud," went on to explain that her kids aren't used to seeing her in such ornate get-ups. 

"I think they didn't know what to [think]," Hilaria shared. "Yes, they loved it! And they're also like...I mean, could you imagine? Like, a mom is wearing all these rhinestones? This is not my typical mom outfit."