I'm surprised nobody's mentioned food intake yet. Exercise and building up strength is definitely key here. You don't just automatically start a new hobby and become great at it right away. Train yourselves, and take it slowly, you're not going to get there by overworking yourselves.
Secondly, I'm not saying you have poor diets, so please don't take it that way. Another key factor in becoming good enough to dance just like the couple you saw, is eating right. I mean eating right in the sense of getting the nutrients you need from food that contains energy and carbohydrates in order to keep up your stamina. Carbohydrates provide energy that gets used by your body right away, or at least pretty much so. Don't overeat and don't under-eat.