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 or otherwise felt unwelcome at traditional studios. She shared this idea with her friend and fellow dancer, Maya Nagle, who became the founding Teen Board VP of Membership. She then created Dancers With Heart.

By January 2024, Acadia and Maya 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 reached out to community organizations to test their events.

It became clear that there was a need for free adaptive dance classes in the community, and also lots of teens interested in joining Dancers With Heart to give back through dance. Since the organization and some events had associated costs, the teens, with guidance from their "shadow" Adult Board, filed to become a 501(c)(3).

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.