As far as I see, Perfective is introduced in the same row as Pronouns 2, from which this sentence comes. So it was impossible to use here. This focuses on the 'process' of dancing and not dancing a particular dance, seems perfectly acceptable, although probably worse, true.
Anyway, added "zatańczyć".
It would be a rare circumstance where you would want to dance with more than one partner. I think tobą would be more appropriate.