Ireland Baldwin calls Hilaria 'bat s--- crazy' but credits her with saving dad Alec's life

"These thoughts have been on my mind since I last visited her on the east coast. Hilaria has had a far more complex and chaotic upbringing than she lets on and I think that's why we've maybe bonded in someways? She didn't always feel safe and seen. Sometimes, she is too loyal to a fault. She is eccentric and totally bat s--- crazy (in a fun way) but she saved my dad's life."

According to Ireland, Hilaria has helped Alec healthwise but also mentally.

"She turned his health around and has shown him the forgiveness and kindness that he needed," she continued. "She also recognizes and nourishes the parts of my father that are the most compassionate and wonderful. She's taught him that he doesn't need to suffer inside of his own head and stay stuck in his own past. That it's never too late to admit you need help and it's never too late to learn to be kind to yourself."

"Hilaria is the reason I am able to have the close relationship with my father that I do. She is the reason I get to have siblings/a big family that I've always wanted. She has always respected me, accepted my flaws, embraced me, and has always shown me kindness. I met her as a teenager and I needed her as an example. I still very much look up to her now. I am so proud of her for doing Dancing With the Stars and I CANNOT wait to cheer her [a--] on. She deserves this! And it's not my place to share the ins and outs, but this woman is a gem and deserves all the love."

Hilaria commented on Ireland's post, writing, "I'm crying. I love you with all my heart, @irelandirelandireland."

"These words mean so much," she added. "You mean so much to me."

The yoga instructor addressed criticism ahead of the show's premiere.

"You collect the good and the bad in life along the way," she told the outlet. "We're all looking forward."