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The dances in these manuals are extremely varied in nature. They range from slow, stately dances (bassadance and pavane) to fast dances (the galliard). Some where choreographed, some were improvised on the spot. On dance for couples, La Volta, involved a rather intimate hold between the man and woman, with the woman being lifted into the air while the couple made a 3/4 turn. This dance was a favorite of Queen Elizabeth I of England, and was condemned by the clergy as being the cause of divorce and pregnancy. Yet another dance, the almain described in Arbeau's 1589 French dance manual, involved kissing one's partner.
For more information:
http://www.rendance.org/ (The Renaissance Dance Homepage)