Listen, if I can get 5 year olds to do it (It's really too young) ANYONE can do it. Quit worrying and just enjoy yourself. That's what I tell my students. I think that's the secret with the little ones. They don't care who is watching or what their neighbor is doing, they are just having a great time. Like biking, you train, you ride hills, you become disciplined, but you love it, right? If you have to walk a hill, who cares? Lose yourself in the music. Dance is all about expressing feelings without words. If you still aren't comfortable in a class, just turn up the music at home, or as Salsabike says, you may need a different teacher, or maybe even another kind of dance.