Actually, if you look light and hovering, what you are probably missing is the settling action.
First thing: standing over the foot with the weight over the arch, so it is divided.
Now try to relax the tension out of the standing leg. This will make the standing hip pop out a bit back and to the side, and the back leg draw in a bit towards the other. It's a very easy action, the leg starts to close by relaxing, you don't have to 'work it'. Yes, you will want to keep a lot of tone in the abs, but one of the keys to dancing is learning the body awareness to be toned where you need to be toned while also being relaxed in other body parts - many dance actions are actually releases of tension.