While dancing, move close together. Put one of your legs between your partner's legs. Now she can rub her clit gently against your upper thigh, through your clothes (or not, as the case may be). Bend your knees a little and put your hands on her waist. Move with the music. Side to side is usually better than back and forth. Do it lightly, don't ram your leg into her. Let her control the pace and the pressure - she will be the one taking
the pleasure, not you.

Do you tried this ?