At Home with Helio and Baby Mikaella!

ET gets up-close and personal with Helio Castroneves, girlfriend Adriana Henao and their baby daughter Mikaella! The champion racer/"Dancing with the Stars" season five victor and his family are featured in the new People magazine, on stands Friday -- and we have a sneak peek at their photo shoot!

"He's an amazing father," Adriana tells ET. "He's been helping a lot, it's not even funny. He's been changing diapers, he does the night shift very often -- I try to help him and he's like, 'No no no, don't worry, go back to sleep.'"

"It's too good to be true, huh?" jokes Helio.