Dance is a way of artistic expression. It also can be considered a form of communication. Typically, dance relies on the capability that human beings have to synchronize their movements rhythmically to music. In this work, we propose a music-driven approach to enable mobile robots to dance to a given music. We focus on the automatic generation of paths such that robots jointly performs a choreography guided by a song. Although dancing ability of a real person is complex and hard to accomplish, in this paper we aim to associate the robot motion to music and to emulate this typical human activity.