Side Tari is a very graceful step from not only the upper body, but also in the placement and balance of weight of your feet. Check it out here:
https://www.youtube.com/watch?v=VykyPMmmkh4&index=11&list=PLJWbEzNf2ZUSYm6-z6L3IEZzojvYbTqW0
https://www.youtube.com/watch?v=VykyPMmmkh4&index=11&list=PLJWbEzNf2ZUSYm6-z6L3IEZzojvYbTqW0