Hilaria Baldwin didn’t hold back while discussing the “embarrassing” part of competing on Dancing With the Stars.

“It’s uncomfortable and embarrassing sometimes,” Baldwin, 41, said of putting herself out there on season 34 of the reality show while speaking to People.

Prior to her experience on the show, Baldwin grew up dancing. However, she admitted that getting back into the swing of things hasn’t necessarily been easy. “I mean, some of it is like visiting a familiar friend when you’re older, and you’ve had a lot of children, and broken some bones, if you can relate to that,” she said of her experience dancing today. “But also, some of it is brand new. [My partner], Gleb Savchenko, is asking me to dance on a much higher level than I ever danced.”

Baldwin went on to note that she’s “really focusing on the quality, the footwork, the authenticity of the dance.” She continued, “And being independent on my own, so I’m not just relying on him to throw me around the dance floor. He makes me do the routine on my own.”

While the experience hasn’t been easy for her, Baldwin insisted she’s not on DWTS to play it safe. “I keep on reminding myself: I didn’t sign up for this to be comfortable. I signed up for this to do hard things and to be brave,” she said. “And [Gleb] is the perfect person to do that with.”

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Baldwin also shared that she’s excited to try new dances on the show. “Because I think when you try something that’s brand new, it’s a little liberating because you’re like, ‘All right, I’m going to try this.’ And it’s just that different expectation.” she said. “As [Gleb] says, I’m very hard on myself. And so, I’m trying to learn to chill out a little bit. And I think I’ve done a better job at relaxing.”

Savchenko, 42, echoed that Baldwin is a “hard worker” while speaking to the outlet. “I’m just so impressed with the passion that she puts into it,” he said.

“She’s such a perfectionist. You’re working on little details, and she goes, like, ‘No, let’s do it again. Let’s do it again,'” Savchenko continued. “She gets so frustrated with herself. And I’m like, ‘It’s okay. It was actually good.’ [And she goes], ‘No, let’s do it again.’”

DWTS airs each Tuesday on ABC and and Disney+, and it’s available to stream on Hulu the next day.

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