Prohibitions against dance are largely a produce of the Victorian era of western civilization and the Wesleyan and Holiness movements of the 19th and 20th centuries.
The Bible tells people to pick their instruments and get on their feet and dance! The exodus from Egypt was accompanied by spontaneous songs, dancing and music as they celebrated their freedom and God's grace.
So often, the modern church has sat rigidly restrained fulfilling an artificial idea of "respect", of "dignified behavior", or even what "holiness" even meant.
People - if they are passionate about what they are doing - show it! Go to any sporting event or musical concert and see how people respond. They move, they sing along, they shout agreements or support and they show through facial and body actions they are involved with the event on a deep and personal level. Now, go to most churches....
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One of the easiest ways to add movement into a worship service is through ribbons or small banners that are suitable to making sweeping and dramatic movements. it is unfortunate that most images of dance or movement show women; as if such a thing were solely something that should be done or of interest to women. Add movement with any age group, any gender and with any type of music.
Add it to the procession, as an accompanying piece to movements within the worship or as a special featured element.
The rules of successful use of movement are simple: Be willing, Be practiced, and Be excited.