The Charleston originated from an African / African-American dance called Juba. Juba is a series of animated and high-kicking dance moves by enslaved Africans and African Americans on southern plantations in the United States. It includes some dance steps from a West African dance called Mandani. The dance refers to making music using the body, such as clapping, patting hip, thigh, chest, etc.

In the beginning, the dance started off a step called the Jay-Bird. The Jay-Bird is a simple twisting of the feet, to rhythm in a lazy sort of way. When the Charleston arrived in Harlem, a new version was created. It became a fast kicking step, kicking the feet, both forward and backward and later done with a tap. The Charleston was now a combination of African, European, jazz, and tap.