Dancers, I mean most of em', don't dance just because they know how to. They shake their bodies when music fill their souls. They don't mind people staring at em', well, most of them.
I'm trying to say that anyone can actually dance, in a way that is funny, lovely, memorable, admirable and maybe lame. As long as you enjoy every step and movement you're making, I consider that a happy dance. :D
Even serious people in the working society dance too! Serious people like some policemen below. xD
Conclusion, just dance :)