Somewhat unrelated experience, but Kizomba also involves a close embrace with a contact at chest/belly and it feels somewhat uncomfortable/risque at first. But as you learn the dance, you have to really concentrate on maintaining the frame so as to be able to lead and follow correctly, and the whole thing feels in fact quite meditative and not sexual at all.

If you mean skill, I was one of the better dance students, okay at everything and excellent at a few things. If you mean emotionally, I enjoyed it a lot, even when I felt clueless.