The best advice I think I've seen for getting beginners to dance on time is to get them literally marking time with their steps. Make it explicit that one beat = one step.
That's essentially the origin of step footwork, but I'll leave any mention of what foot to start with for other threads . I know a lot of people don't agree with the step footwork method on some sort of general principle, but in my experience it works wery well. Eventually the students get comfortable enough with the timing that they can stop doing that if they prefer, but they may never have gotten to that stage if they hadn't been taught step footwork from the start.
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