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We propose a method by which dancing motions can be generated automatically using various dancing rules. Hence the burdensome task of teaching can be avoided by using our proposed method. We have analyzed the dancing motions taught by an expert dancer to the automata and have extracted the dancing rules. The size and the direction of the motion of each degree of freedom are generated according to these dancing rules. Additionally, the timing of the dancing motions of each degree of freedom is decided according to the timing and the length of note acquired from the music.