To add to all the good comments above. Have it clear in your mind that in the Samba you must finish with a bent knee, not like the Cha or Rumba where the leg is absoutely straight front and back on a Basic or New York ,Spot turn the same applies. In those dances the back leg will have about 2o% of your weight until the and count.Now back to the Samba, among all this you must develope a body tick which is a contaction and expansion of your tummy muscles. This is the most difficult of all the dances. A friend of mine an acomplished performer went to one of those super duper coaches in the UK, and never got more than eight bars into the Samba without being stopped each time and corrected. If you are troubled by all this , don't be. There are very few who could say that their Samba is perfect. Spectacular yes but perfect no.