Another way to learn the basics (and more) is to buy a Learn To Dance DVD. There are many good ones out there. Two names I am familiar with from back in the day are Ron Montez and Corky & Shirley Ballas. read more
Best way: Practice a lot. Do not go to a ballroom dancing classes, that is not really salsa dancing. Learning how to follow the "clave" is the most difficult part of the dancing salsa because it can have a fast, medium or slow beat so your body needs to move accordingly. Nothing better than a Latin instructor if you really want to dance it properly. read more