Older Latinos have low rates of physical activity (PA) and poor health outcomes. Focus groups and a single group, pre-post 3-month pilot of a culturally appropriate Latin dance program (BAILAMOS©) were conducted among older, inactive Latinos with a self-identified mobility limitation. Nine themes emerged from focus groups, including cultural influences of dance and barriers to dancing. In the pilot intervention, 9 of 13 older Latinos completed the program and attended 85% of the sessions. Self-reported PA significantly increased (p < 0.05; d = 1.39), but daily accelerometer-assessed PA decreased for moderate-intensity PA (p = 0.18; d = 0.29). Participants reported significantly greater enjoyment of PA (p < 0.05; d = 0.61) and improved physical quality of life (p = 0.23; d = 0.31). Improvements in mobility (p = 0.15; d = 0.56) and aspects of cognition were demonstrated. The BAILAMOS program appears to be feasible, culturally appropriate, and has the potential to improve psychosocial determinants of PA, self-reported PA, and aspects of health.