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Here is a groove exercise pairing controlled feet with a freer upper body. Keep your feet controlled and your upper body grooving, and don't stop moving. The groove only stops when you reach forward.
Get low on the first three steps. Then the arms go: grab to the right, double take to the left, a ball change, and a point up. A punch from the chest leads with the elbow while the free hand floats up and you look down. The double take is quick.