In the summer of 2023, Acadia Davis, a dedicated dancer and founding Teen Board President, had a vision to create a volunteer organization of dancers who could share their passion for dance with those who lacked access to classes. She shared this idea with her friend and fellow dancer, Maya Nagle, who became the founding Teen Board VP of Membership. Together, they formed Dancers With Heart.

By January 2024, they had selected four more founding Teen Board members: Eleanor Moscato as Treasurer, Chelsea Miller as President Elect & VP Public Relations, Zoe Jackel as VP of Philanthropy, and Maya Almog as VP of Programs & Secretary. They began reaching out to philanthropies in the area who could use their support.

It became clear that there was a need for free adaptive dance classes in the community, and also lots of teens interested in joining an organization that focused on giving back through dance. Since the organization and their events have some associated costs, the teens, with guidance and help from their "shadow" Adult Board, filed to become a 501c3.

In May 2024, Dancers With Heart launched its initial membership drive, and in October 2024 they kicked off their inaugural year with 17 teen members.