It is only illegal if you do it against those who don't give you consent or do it publicly in the few places where it is illegal. If you do it in most places without doing it on a person, or do it where this is acceptable, then it is perfectly legal.
Of course, it is likely illegal in Middle Eastern countries due to religious laws. The main things are doing it around or up against those one is not married to, and violating public decency laws.
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Twerking alone is not illegal but twerking with others on public place is a crime in Florida.
If you get hard while twerking
twerking can CAUSE an er*ction
Twerking might help a person lose weight if they do enough of it, since it is a physical activity. Twerking is a type of dance.
Shakira