1. Turn on the Music 2. Allow all your body to move "freely" to the sounds. Pretend you actually enter the notes and become one with the music. What you have inside will come out. All the creativity, passion, and emotion. You just might surprise yourself. Close your eyes at first if it helps. 4. Dance like no one is looking. There are no wrong answers on this one. 5. You just danced. YAY!
Getting to the point you understand you are totally free to express yourself you can start learning steps to routines, they will be less difficult and mean more to you.
Love it. Even if people aren't dancing well per popular opinion, if they feel comfortable doing it or just simply enjoy it it'll look like it comes natural!
I have! I've taught a few girlfriends how to dance because in college I loved to go out drinking and dancing, but no one ever wanted to participate in the dancing because they felt awkwardly about it. Now they're pros ;)