The doll was unveiled Monday on Good Morning America.
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33-year-old Copeland made history last year when she became the first African-American woman to be named principal dancer at the world-renowned American Ballet Theatre.
She called her journey a dream and says it's one she's had since she was a little girl playing with Barbie.
She helped Mattel create the doll which is wearing her Firebird costume from her first principal role with the ballet.