The dance during the medieval period was:
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Discouraged by the Church as it was considered to be the movement of the body as one of the seven deadly sins: pride.
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Done only at parties.
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Some Christians tolerated him and I took part.
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Done in groups with background percussion and lute.
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Coincidentally, the Church accepted it and used it in his sermons.
There are manuals for dancing medieval. Some dance music survived but the performance of the dance can only guess, using the information obtained from the references of painting and some writings found. The dances of this period include Ductia, carole, estampie, trot and saltarello.
From painting we see that some dances were made in pairs. Others were made in long lines of dancers facing each other in line.
The musical instruments used were percussion (even with hands, bats, chopsticks, hammers), as tambourine, triangle, timpani, bass drum and bells, the lute, harpsichord, the violin, the organ, the flute, the harp and the bagpipes.
Here is a list of music midi medieval: CLICK HERE (external link)