The only clear difference between human dance and primate dancelike behavior is that the former is culturally patterned; otherwise, attributes only vary in terms of their complexity.
Dance, therefore, is not a human invention—it is a human variation on a primate theme.
This according to “The origins of dance: The perspective of primate evolution” by Sandra T. Francis (Dance chronicle XIV/2–3  pp. 203–220). Above, a lemur trips the light fantastic; below, the story behind a popular YouTube video.