The royal bop in action, with a side of Rishi wriggle (Picture: BBC / PA / Reuters)

As Lionel Richie’s All Night Long played out across the grounds of Windsor Castle, the royals were on their feet.

Zara and Mike Tindall swayed, Sophie, Duchess of Edinburgh, delighted crowds with a two-step shimmy, while Prince Edward’s bop was coined ‘The Bunny Hop’ on Twitter.

Even King Charles and Queen Camilla couldn’t resist a boogie, while Kate, Wills and the kids clapped along, mostly in time with the music.

Sure, there were some jibes about ‘dad dancing’ on social media, but you’ve got to hand it to The Firm – they looked like they were having fun.

Up on their feet and having fun (Picture: via REUTERS)

The whole scene got us thinking: how do you let go of your awkwardness if you’re not a natural dancer? And is it ever possible to become – dare we say it – actually good?

‘Of course it’s possible to learn how to dance if you’re not a natural!’ says Emile King, a dance teacher based in Hertfordshire. ‘It’s not usually the movement that challenges people, in my eyes, it’s usually the rhythm.’

The biggest thing that makes dancing look ‘off’, says Emile, is when someone is bopping out of time to the music, so focussing on the beat is a good place for beginners to start.

‘If it feels awkward, then it probably looks awkward,’ he says, ‘so don’t do something that doesn’t feel natural in your body. A natural movement, as long as it’s in time, should look fine.’

Laura Mulford Clark, a dance teacher based in Buckinghamshire, agrees that letting go is key.

‘My advice to anyone who is thinking to learn to dance is don’t put any pressure on yourself to look a certain way when you are a beginner, remember everyone has to start somewhere,’ says Laura. ‘The more tense you’re feeling, the more awkward you will feel and look.’

To get moving, she recommends trying a fail-safe: the two-step. Sometimes called a step touch, it simply involves stepping out with one foot and bringing the second one in to join it.

‘There’s nothing wrong with a basic step and groove, in fact when that’s done well and you feel relaxed just enjoying the music, it’s all you need,’ she says.

Both teachers agree it’s all about finding what feels good, listening to music that instantly makes you want to move. And if you’re still struggling to find your jam?

‘Freestyle in your kitchen or bedroom first,’ says Laura. ‘Most importantly, relax your shoulders and bend your knees so you are in a good base position to then move freely.’

As Emile points out, you’re unlikely to whack out a full-on dance routine at a gig or club. But taking a dance class or two might make you feel more comfortable in your body.

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Rope a friend into coming with you if you feel nervous, says Laura, but don’t be afraid to join solo, either. ‘Sometimes taking yourself out of your comfort zone is best to build up your self-confidence,’ she adds.

In an interview last month, Prince William admitted one of his ‘greatest regrets’ in life is not learning to breakdance when we was younger, but breakdance is just one of the styles Laura teaches to adults of all abilities through the nationwide company, Urban Strides.

So, Wills, you heard it here first: it’s ever too late to find your groove.

And remember, there’s no ‘correct’ way to do it, so dance like no one’s watching – even if you’re royalty.

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