Cheryl Burke and Matthew Lawrence on why their relationship works

After reuniting following a nine-year-long breakup, Cheryl Burkeand Matthew Lawrencehave figured out the key to making their relationship work.

Us Weekly caught up with the couple at the Race to Erase MS Gala on Friday, April 20, where they opened up about how their friendship has helped them as a couple. “I think it’s because we’re really good friends and that’s where it all starts,” the Boy Meets World alum, 38, told Us exclusively. “I think we have really good companionship and I think we just built from there.”

“That’s the most important thing. We can actually hang out. When we go away together, we really enjoy it,” he added, “When it’s just the two of us, it’s the best.”

While the pair looked stunning on the red carpet at the event, the Dance Moms star, 33, told Us that their date nights often consist of staying in and having take out. “We’re usually on the couch. I’m like top knot, no makeup on and ordering food and watching Homeland,” Burke told Us. “We’ve actually traveled all over the world. Other than watching Homeland, we love to travel.”

See photos of Cheryl Burke and Matthew Lawrence together:

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Cheryl Burke and Matthew Lawrence together
OMG! So far so good for 34! 💍#amilliontimesyes #imengaged #herecomesthebride
Merry Christmas Eve from Pamalican Island, Philippines!
Cheers to the freakin weekend 🥂💋
#MCM ❤️ . . . . . #experienceeldorado
BEVERLY HILLS, CA - APRIL 20: Cheryl Burke and Matthew Lawrence attend the 25th Annual Race To Erase MS Gala at The Beverly Hilton Hotel on April 20, 2018 in Beverly Hills, California. (Photo by JB Lacroix/WireImage)
BEVERLY HILLS, CA - APRIL 20: Matthew Lawrence (L) and Cheryl Burke attend the 25th Annual Race To Erase MS Gala at The Beverly Hilton Hotel on April 20, 2018 in Beverly Hills, California. (Photo by Alberto E. Rodriguez/Getty Images for Race To Erase MS)
LOS ANGELES, CA - AUGUST 10: Matthew Lawrence and Cheryl Burke attend a private event at Hyde Staples Center hosted by Sandals Resorts for the Ed Sheeran concert at Hyde Lounge at The Staples Center on August 10, 2017 in Los Angeles, California. (Photo by Vivien Killilea/Getty Images for Sandals Resorts)
Actor Matthew Lawrence and Cheryl Burke front row at TART Spring 2008 collection during Mercedes Benz Fashion Week held at Smashbox Studios on October 17, 2007 in Culver City, California. (Photo by Michael Tran/FilmMagic)
UNIVERSAL CITY, CA - AUGUST 26: Actor Matthew Lawrence and dancer Cheryl Burke arrives to the 2007 Teen Choice Awards at the Gibson Amphitheater on August 26, 2007 in Universal City, California. (Photo by Jason Merritt/FilmMagic)
UNIVERSAL CITY, CA - AUGUST 26: Actor Matthew Lawrence and dancer Cheryl Burke arrive to the 2007 Teen Choice Awards at the Gibson Amphitheater on August 26, 2007 in Universal City, California. (Photo by Jason Merritt/FilmMagic)
HOLLYWOOD - AUGUST 04: Matthew Lawrence and Cheryl Burke sigthing in West Hollywood on August 4, 2007 in Hollywood, California. (Photo by Jean Baptiste Lacroix/WireImage)
Matthew Lawrence and Cheryl Burke during Us Weekly Presents Us' Hot Hollywood 2007 - Red Carpet at Sugar in Hollywood, California, United States. (Photo by Jason Merritt/FilmMagic)
Matthew Lawrence and Cheryl Burke during 'Pirates of the Caribbean: At World's End' World Premiere - Arrivals at Disneyland in Anaheim, California, United States. (Photo by Steve Granitz/WireImage)
Matthew Lawrence and Cheryl Burke during Us Weekly Presents Us' Hot Hollywood 2007 - Inside at Sugar in Hollywood, California, United States. ***Exclusive*** (Photo by M. Tran/FilmMagic)
Matthew Lawrence and Cheryl Burke during 14th Annual Race to Erase MS Themed 'Dance to Erase MS' - Red Carpet at Hyatt Regency Century Plaza in Century City, California, United States. (Photo by Lester Cohen/WireImage for PMK/HBH)
Cheryl Burke and Matthew Lawrence during 'Wild Hogs' Los Angeles Premiere - Arrivals at El Capitan Theater in Hollywood, California, United States. (Photo by Steve Granitz/WireImage)
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The Dancing With the Stars personality and the actor dated in 2007 before going their separate ways a year later. They rekindled their romance in February 2017, after spending nearly a decade apart. Since the pair reunited, they have shared adorable snaps from their romantic trips on social media, including some from their vacation in Grenada in July 2017.

“Adventure of a lifetime,” captioned a cute photo of them standing under a waterfall.

The couple met through one of Lawrence’s brothers, Joey, who competed on season 3 of the hit ABC dance show in 2006.

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