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No-one wants to do something embarrassing when they go out dancing and there are centuries of traditions to ignore, so here's our rough guide to ballroom etiquette. Almost everything on this page is just common sense and common courtesy.
Traditionally, to invite someone to dance you would ask something like 'May I have this dance? ' These are still commonly used, but no-one's going to be offended if you're less formal about things, particularly in a crowded beginners class!
If you don't want to dance with someone, it's perfectly polite to decline on the basis that you're sitting that one out, but it's rather bad manners to go and dance to the same music with someone else instead if you've done this.
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(The exception, obviously, is if you had already agreed to dance it with that other person when you were asked.) If you don't want to dance that particular track but you're worried about upsetting someone who has asked you specially, you can always offer to find them for a different dance later.