What to do at a club

Hey so I have a question about what to do at a club when trying to dance with a girl. A couple of my friends tell me to just go up and start dancing or get behind and I guess my some sorta contact. But I'm not the type of person to do that or think it's right. My friends tend to be drunk when they tell me that and I don't really drink when we do go out so I'm usually sober. Sorry I hope my rambling makes sense