A really good thing I like to work on, when I can dance, is combos. Just like when people are learning to play Jazz, they learn sequences of sounds, pick ones they like, and then when it comes to freestyle, they can draw from them. It gives a really good basis of understanding, a nice place to come from, and a way to accurately understand what kind of mood or feeling you want to put into the song.
Such with dancing, too. If you have a lot of combos to draw on, then you really only have to pick a few, and work within them. If you have some that you really like, you can always work on slowing them down, or speeding up in other parts. You can string them together, or change up the order of things once in a while. It gives you a place to start.