How do you feel more confident when dancing in front of people?

I used to dance a lot when I was young audience or not, but as I got older, it began to make me feel self-conscious, and I just eventually stopped dancing altogether. I'll dance in my seat in the car or at home, but I just never feel confident enough to just stand up and do it. Even when I'm alone, I just feel silly.
How do you feel more confident when dancing in front of people?
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