Higgins and Beharry were voted off the ITV1 reality show last night after finishing bottom of the judges' leaderboard.
Speaking on This Morning about their partnership on the show, Higgins described the Victoria Cross winner as an "inspiration".
"Every day I worked with him he blew my mind. He inspired and touched my life," she said. "And we got messages on Twitter from people around the clock, so I know how much he inspired them. He is touching other people's lives with what he's done on this programme"
She added: "It's been a great great journey and it's not over yet. We've become incredible and we'll be together for the rest of our lives."
Higgins and Beharry will take part in the UK Dancing On Ice tour, which kicks off next month in Sheffield.
The Dancing On Ice final, which will feature Laura Hamilton, Sam Attwater and Chloe Madeley, airs on Sunday at 7.40pm on ITV1.