There are loads of places offering urban dance lessons, not just salsa and ballroom dancing. My advice to you is to avoid any proper hip hop clubs for now as you don't want to be pushed into a circle and have 30 people watch you try to dance.
Besides, most people in clubs can't even dance properly anyway, they just bop up and down to the beat, hardly anyone I see has any real moves apart from the odd couple of guys, its easy for girls as they just need to shake their lady parts in order to impress people.