With the World Cup right around the corner, you're likely to hear some sizzling sounds that will make you want to sway those hips. After all, dancing is as much a part of the Brazilian soul as soccer.

On Rio de Janeiro’s fringes, partygoers have been dancing “charme” to the sounds of R&B for decades. Now, a new crop of dancers is reviving — and transforming — the scene. Marcus Azevedo and Dandara ...