03/02/2016 AT 12:35 PM EST
Two years ago, he experienced the lowest of the lows, but now Robert Herjavec
is bouncing back from a painful divorce – and moving on with his brand-new fiancée, his former Dancing with the Stars
partner Kym Johnson. But it wasn't an easy road to his new-found happiness.
Robert Herjavec and Kym Johnson
"I had gone through some pretty tough times and hit a place I never thought I'd be," says the Shark Tank
star, who told PEOPLE last year
that he once contemplated suicide following the breakup of his 24-year marriage and estrangement from his three children. "In life, when you get to that point, you either move on, or stay at the bottom."
Over time, "I got to a point where I was happy with myself slowly and I felt good about things again, but I thought I'd be alone," says Herjavec, 53. "I thought it was what it was."
For exclusive photos and much more from Robert Herjavec and Kym Johnson, pick up the new issue of PEOPLE, on newsstands Friday
Blake Shelton and Gwen Stefani on the cover of PEOPLE
Then came Dancing with the Stars
– and meeting his future wife-to-be, Johnson, 39. (The pair got engaged on Feb. 27
Says Herjavec, "I met Kym, and I was scared. But it was like a ray of sunshine. She made me feel really good about life and myself. And then I realized, 'Oh my God, she's a superhot, sexy Australian! Bonus!' "