Anthony Field, the Blue Wiggle, never imagined he'd share the stage with his daughter Lucia, but now it's one of his joys.

Lucia, 21, joined The Wiggles in July 2022, and Field, 62, is making up for lost time. He spent much of his time on the road when Lucia was growing up, and she was away at boarding school.

"I was away so much in her teenage years, and she was away at boarding school, so I missed out on a lot of her development," he says.

Field shares that Lucia's passion is ballet, and she was a boarding student at the Australian Ballet School. However, COVID hit, and she came back to Sydney, allowing Field to get to know her.

He adds that he didn't even know she could sing until later, and when Emma Watkins left the group, Field asked Lucia to join. He never thought she'd be a Wiggle, but he's thrilled it happened that way.

Now, Field is enjoying quality time with Lucia, who has a great sense of humor, talent, and compassion for children.

Field also shares that his other children, Marie, 19, and Antonio, 18, are pursuing their passions. Marie has been the voice of Dorothy the Dinosaur and has a passion for acting, while Antonio plays guitar and drums.

Field founded The Wiggles in 1991 with Murray Cook, Jeff Fatt, and Greg Page. Although the original members have moved on, Field intends to continue until he can't.

For more on Anthony Field and his family, pick up the latest issue of PEOPLE, on newsstands everywhere Friday.

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