First, you should really WANT to dance. Then there are two approaches - you specify 'learn'. As opposed to 'being taught'. These two don't always go together. Your first move is to go to a Dancing School, where they will make every effort to 'teach' you. You may have noticed that in dancing there is a question of where to put you feet.....this the Teacher will demonstrate to you. They will also bring your attention to the Music, and the fact that your feet will be required - and later on, your body - to use this for your timing and rhythm.
Quite early on you will find out whether you are going to be able to dance. If you do not discover this for yourself, I have no doubt you will be told.
As to 'any kind of dance', for your own enjoyment - and financial situation - you will be wise to watch different types of dancing and decide which you feel is your particular 'genre' and concentrate on that.