Dancing is a great way to get fitness into your routine. It's something most of us have been doing since we were babies. It's only as we get older that we tend to dance less often.
It brings us joy to dance with abandon. Singing is another activity that all children do with no self-consciousness or shame. It is only as we get older that we allow the opinions and potential opinions of others interfere with these joyful actions.
Stop letting fear and others stop you from doing what you want. Dance and sing to your heart's content. Laugh loudly and freely. It's good for you physically and emotionally.