Grace appeared on "GMA" today with her just-announced professional partner, Tristan MacManus, who will be making his DWTS debut this season.
"I was part of the 'Dancing With the Stars' troupe last season so I'm kind of getting used to it," he said on "GMA," downplaying any case of rookie nerves.
"Nancy certainly put me at ease from the first time around, so I think we're going to be alright," he said.
Despite the ease in their relationship, Grace described on "GMA" the difficulties she's already encountering trying to keep pace with MacManus, whom she described as a "robot."
"I'm used to doing battle in court and my feet have never really been an issue," Grace said. "Let me tell you, yesterday I had to bandage up my feet. "
Grace is the mother of 3-year-old twins, Lucy and John David, whom she conceived through fertility treatments and delivered three months premature in an emergency, life-threatening c-section.
Grace is healthy now, but will have to balance the show's notoriously difficult practice schedule with her role as a mother and her day job on TV.
All 12 celebrities have begun training with their professional partners, learning either the cha cha or the Viennese Waltz for the show's two-hour season premiere, Monday, Sept. 19 at 8 p.m. ET.
"They're long and they're arduous," Grace said of the rehearsals she and MacManus have begun in Atlanta, where Grace lives and shoots her nightly HLN show. "I'm just trying to keep up."
The couple with the lowest combined judges' scores and public votes for their performance will be sent home in the season premiere of "Dancing with the Stars: The Results Show," Tuesday, Sept. 20 at 9 p.m. ET.
Like Kirstie Alley and Kate Gosselin before her, Grace may not be the most obvious contender for the coveted mirror ball trophy. But if she performs anything like she does in her natural habitat, Dan Abrams, ABC News legal analyst and Grace's frequent on-air sparring partner, thinks she'll do OK.
"Nancy has already become a skilled verbal dancer," he said in an email to ABCNews.com. "If her style remains consistent, I wish her partner the best of luck, and pity those who have to judge her!"
Grace, however, believes she will be able to bite her tongue when it comes to the often-stinging comments delivered by the show's three-judge panel.
"If the judges don't like my dance I'll probably respect what they say," she said on "GMA."
ABC News' Sheila Marikar contributed to this report.