She and Stephen — whodied last December at age 40— began writing it in 2021.

“I’d always had a dream of coming out with a children’s book. It was from years ago when I had [my oldest daughter] Weslie,” Allison, 35, tells PEOPLE exclusively. “Then a couple years ago, I was like, ‘Let’s do it!’ Let’s show who we are and put it in story form.”

Keep dancing through

After Stephen’s death, Allison wrote a dedication that will be included in the book.

“My late husband Stephenand I started working onKeep Dancing Throughin the summer of 2021. We wanted the book to reflect our family’s values about spreading kindness and hope, our mottoes and daily affirmations,” reads the note.

Allison Holker Boss.Nolwen Cifuentes

Allison Holker photographed at home on April 11, 2023 in Encino, CA. Photographer: Nolwen Cifuentes Hair & Makeup: Larke Hasstedt

“And what a joy it was to work on. We reviewed passes with the kids, who were delighted to see themselves in illustrated form. We read through it hundreds of times and still had smiles on our faces when we were done. It was a true passion project, a family effort,” continues the dedication.

“Now that the book is finished, I am so proud of what we made, and how itencapsulates our family, how you can feel the real love and joy running through every page. I hope reading it sends a little joy and love to all of you.”

Allison Holker Boss and Stephen ‘tWitch’ Boss with Zaia, Weslie and Maddox.VALERIE MACON/AFP via Getty

US dancers Allison Holker (2nd L), Stephen “tWitch” Boss (R) and family attend the Fans Premiere of Illumination and Universal Pictures' “Minions: The Rise of Gru” on June 25, 2022, in Hollywood, California.

“And of course, I hope it inspires you to dance. Because, to put it quite simply, that’s what our family is going to do — we’re going to keep dancing through,” she concludes.

For more on how Allison Holker Boss and her kids are continuing the legacy of Stephen ‘tWitch’ Boss, pick up the latest issue of PEOPLE, on newsstands Friday, or subscribehere.

source: people.com