The long answer is, the day's schedule included ample time for instruction in formal dance, and surely Papyrus would have picked up a few things along the way. Unfortunately, nobody remembers the lessons. So the short answer is, no.

"Humans...?" Papyrus knows that's not it, but it's hard to focus. Especially with the music, and the dancing around them. "Wait, no, not that! That's the old answer. Vampires? There was something..."