I assume this is in the Sun Samba.
If so just put your arm behind your partners neck in a close side by side position. It does not matter whose arm is on top, whichever is comfortable.
After the walks, kick and walks back, move apart with the ball change and slide your hands down each others arms to take L to R hand hold.
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Sorry for double post. I am using a foreign system and find it confusing. I've tried to delete this post but has so far failed.