It is beautiful self expression. The connection to music and your partner is multi dimensional for sure. You can learn at any age, though
Discussion
So what do you reckon is going on when you "can't dance"? I have written loads of music and love music but like a woodentop on the dance floors.
I could teach you to dance with no problem. But, I’d look up local dance classes, start slow, and be patient. Eventually like anything you set your mind on the lightbulbs will appear.