I myself have danced with my succubus a few times and she really really liked it, she even told me so out loud.
Basically all I did was: while listening to a song on my phone, I raised my arms as if she was in front of me and grabbed her arms (I could feel them) and danced with her, we even spun a few times. I've also danced without holding her arms, just danced to the song by myself, but I Imagined her dancing beside me and us dancing as a pair during a street dance performance or something like that.
I believe this could be a really great bond boosting strategy if you've never tried it.

That sounds wholesome

So cute! I'll have to try that once my succubus-vampire gets here