There is a very old (or fairly old, depending on your age) movie short called "Cuban Rhythm" that shows up occasionally (in the U. S.) on Turner Classic Movies. In it a couple from Arthur Murray shows how to dance Rumba (American style). One technique tip: Imagine you are standing on a street corner, waiting impatiently for a bus, shifting your weight from one leg to another. That gives you the necessary hip movement. I realize that this is a simplification, but it's a start.