Mark Cuban opened a bar before he was of legal drinking age. The brazen college campus venture lasted six short months. A scandalous snafu with a wet T-shirt contest led to the watering hole’s “sorry end.” The former bartender’s later business bets — legal ones, of the tech-related kind — fared exponentially better, eventually landing him in the millionaire club. Then, not long after, into the three commas club, the realm of billionaires.

Kevin O’Leary came into his first millions after spinning a $10,000 seed investment from his mother into an edtech startup. In not too long, Mattel scooped it up for $3.6 billion. Daymond John stitched a $100,000 seed investment from his mom (who mortgaged her house to give it to him) into FUBU. The fashion startup cleared hundreds of millions in sales within six years.

Chris Sacca’s path to millions — and later to billions — is tied to incredibly successful startups, too, though, interestingly, none of his own. He lucked out with some very early and very wise investments in Uber, Instagram, Twitter and Kickstarter, and that’s just the short list.

Lori Greiner spun her love of inventing solutions to everyday annoyances into a multi-million-dollar retail operation. Robert Herjavec, also a multi-millionaire entrepreneur, went from rags to astronomical riches within a few years of emigrating from Croatia to Canada in the pursuit of a better life. And, after failing at 22 jobs, former diner waitress Barbara Corcoran turned $1,000 she borrowed from a boyfriend into a $6 billion-dollar New York City real estate empire that’s still going strong.

We recently caught up with all seven Shark Tank star investors on the Culver City, Calif., set of the hit show. There, from behind the scenes of Sony Pictures’ Stage 30, they shared their advice on how to become a millionaire. Here’s what they told us:

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