Behati Prinsloo Is Back at Victoria's Secret! This Is Who Convinced Her to 'Just Go Do It' (Exclusive)

Prinsloo stars in the brand's new Dream campaign and tells PEOPLE how it felt to come back to her Victoria's Secret "family"

Behati Prinsloo is back!

The longtime Victoria's Secret model, 36, has returned to her roots and is back in her VS bras in the brand's newest Victoria's Secret Dream campaign — six year's after she stepped away from the brand.

Prinsloo tells PEOPLE exclusively that when she walked away in 2018, she felt like she had a "great run" with the brand and didn't ever see herself coming back. But once she did, she found herself crying happy tears upon reuniting with her VS family.

"I was emotional," she says of the Dream campaign shoot. "At the end of the day, I cried. I totally broke down. It was overwhelming. I couldn't even explain it. I was just overwhelmed with joy and memories, and the day went really great, and we had a great time, and it felt like the old days."

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This new campaign, which was shot in London by Angelo Pennetta and features Prinsloo alongside Candice Swanepoel, Taylor Hill, Devyn Garcia and more, "intrigued" Prinsloo when it was brought to her, she says, but the model admits she was "conflicted" about whether or not she wanted to actually return to modeling.

It was her husband of 10 years, Adam Levine, who ultimately convinced her that the job was a good idea.

"He was like, 'Life is short. It was such a huge part of your life. You haven't seen Candice in a while. Just go do it. What do you have to lose? What's going to happen if you say yes?'" Prinsloo tells PEOPLE. "So I thought about it, and I was like, this is going to be so much fun. I'm so excited."

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The mom of three admits that after she decided to come back to Victoria's Secret, she felt "giddy." She says the brand has felt like her "family" because she "grew up with them" after modeling with the company for so many years.

"We had a great time, honestly," she says of the shoot. "It felt like the right time and a great shoot to come back in."

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Though Prinsloo is quite familiar with Victoria's Secret's wide variety of bras — and found herself on the brand's biggest stage (the Victoria's Secret Fashion Show) plenty of times — she was admittedly "nervous" to make her grand return in front of the camera after six years away.

"I was definitely nervous just not knowing everyone on set, but it still felt very similar to me," she says. "But I saw Candice the morning before we both got to the hotel, and we were just like little girls. So excited. And I got to the shoot, and it was honestly so incredible. Did my fitting, hair, makeup, and everyone was just so nice. We were listening to music, the vibe was amazing. Everyone was so sweet in welcoming me back, especially everyone there that I didn't know from before."

The new Dream campaign brings the brand's Dream Angels bra to life on the models in an ethereal setting in the U.K. The comfortable yet sexy bras are made with Love Cloud innovation and feature brand new silhouettes with soft lace and the comfortable everyday fit that the VS customer has come to know and love.

The Dream collection encompasses more than just bras, though. You'll find underwear, corsets, dresses, bodysuits and more.

"Everything we wore on the shoot was super comfortable," Prinsloo says. "I'm all about comfort these days. [The bra I wore] was beautiful, really light and airy and supportive — all the things that you want in a bra."

Shop Victoria's Secret's new Dream collection pieces online and in stores now.

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