My aunt used to sing that song and I don't think it had the hokey pokey in it mentioned by one of the posts here.
Hers was more like what I see on this website http://www.kididdles.com/mouseum/p008.html
copied and pasted below
Put Your Little Foot
Written By: Unknown
Copyright Unknown

Put your little foot,
Put your little foot,
Put your little foot right there,
Put your little foot,
Put your little foot,
Put your little foot right there.

Walk and walk and walk
And walk and turn,
Walk and walk and walk
And walk and turn.
I don't know which version of the song you are looking for but this is closer to the one my aunt would sing.
As for the dance that went with it
I have no information.