You know i have to agree with you i love this man and the way he sings this song and many others. you can just feel the Energy and the presence of god when he sings !!!! LOVE IT!
Rusty Goodman is the songwriter, I'm pretty sure. He was an amazing writer, he wrote "Look For Me", among others, as well. He died way too young, but I guess we'll hear his new songs in Heaven someday, I wanna be in that choir!
The Bible says to bring the cymbals and instruments and if that don't constitute dancing I don't know what does. Just remember folks the Bible speaks of it.