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Semba is the older of the three dances we teach at Azembora and is the origin or parent of Kizomba and after some significant modification Urbankiz.
Here are Carlos and Anna with an after class Semba demo a the Nossa Kizomba festival in Amsterdam.

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Kizomba is the sibling of Semba. It is danced to Kizomba music and typically focusses more on the connection between the partners than on the energy of the resulting dance.
Here is team Finland with a Kizomba Flashmob in Helsinki 2019.