If you want to invite someone from Spain or a Latin American country to dance you can simply ask:
-Bailas?
-Quieres bailar? (do you wanna dance?)

If you would like to sound a bit more polite then you should ask instead:
-Te apetece bailar? (Would you like to dance?)

If you are not very good at dancing perhaps you would prefer to invite this person for a drink or a walk, then you should ask:
-Te apetece tomar algo? (Would you like to have a drink?)
-Te apetece ir a dar un paseo? (Would you like to go for a walk?)