Dance to my rumba
Beat it [maybe a drum?], enjoy, look mama [maybe meaning "look at me and learn the steps."]
Dance, look mama
Beat it, enjoy, look
Dancing the rumba beautifully. That's how I go.
Hey hey mama
Dance to it, dance
Dance
Dance this way [This a tentative translation, the expression I hear is actually unidiomatic]
Dance to it, dance
A Venezuelan in New York [maybe referring to himself]
In California and everywhere
I bring it to you [the rumba]
So that you will enjoy a good thing
Enjoy it with the rest of the world
With the African and the rest of the world
Dance to it
Gringos! [This is funny. "Gringo" is a pejorative way that some South Americans have to refer to Anglo-Saxons. It's clear that some Americans are actually dancing to the music in the studio and receiving instructions from the singer, including this veiled semi-insult. Was Joni there too?]
Left! Left! [maybe meaning use your left foot now]
I say, Come on!
I'm going now! [Or it could also be I'm "coming"!]