It can be very scary to look at an audience at first but it does get easier with practice and also as your confidence of being in front of an audience grows. Each dancer has their own groove when it comes to audiences but I like to see them. I like to glance at as many people as I can and read their expressions, their posture, body language. I like to make eye contact when possible. Sometimes the stage or lighting prohibits you from seeing them at all. You just know they are there and can still attempt to gaze out in their general direction etc.
I have observed a spectrum of emotions from audience members… supportive and otherwise.
As you experiment with an audience keep in mind it's important to not get distracted by them and forget what you are doing. Don't 'own' the uncomfortable feelings if you have a few audience members that are unsupportive, unintersted or judgemental (it's their inner thing to deal with, not yours!). Thats not often but good to know it exists if you haven't seen it before.
I am sure your hubby will glady offer to be an audience member to practice on. : ) Your dance is great and the audience loved you! Look forward to hearing more about your competition.