In the Rumba the hips never stop moving. This should be easy to follow but is only part of the action.
If i stand feet apart and raise my left heel from the floor, my left hip will be higher than my right. Then it comes back into its neutral position
Do the same on the other side right heel off right hip up and back to neutral.
Starting with a Forward Basic
Movement. Step left. the right hip is highest.Then into neutral and then replace weight to the right leg. Now the left hip is the highest. Back to neutral To the side for 4 1 the right hip is the highest. Repeat on the back Basic. The moving of the hip into neutral happens on the and count and never stops. The speed of the stepping foot on the solid beat, if i said snap that might not be the right word, but it is fast. So the movement of the hips takes up all the time and at the last moment the foot goes in right on the beat. If you don't hit that beat right on the button you will be considered off time. Anybody who is not using the and count is doomed to fail and will never become a a good Rumba Dancer.