Dancing is in us all, whether we "have rhythm" or not. The secret is to just get out there, turn off your thinking processes and let your body respond to the music, let it do what it wants to do - it's a primeval thing, and it WILL happen - if you just let it. Don't even think about how goofy you think you might look to others (turn ALL thinking processes off).
If you can do this, yeah, some will laugh at you but most will laugh joyously, watching the joy you are expressing. If you can get yourself into that state, you won't even be aware of others (except your partner if you're physically interacting).
Ya don't have to know nuthin' 'bout "dancing" to do the above. Learning various dance steps can come later if you want, but the above is all you really need to do to have what many describe as a transcendental experience.
Oh, and if you and your partner find it hard to wind down after shakin' yer booties all night, there's always the Horizontal Mambo (I'll wager you got yer own version of that down

)
It's also gotta be the world's best way to meet someone and how they do on the dance floor is usually a good indicator of how much fun they are to do the Horizontal Mambo with.