One Master Drummer told us that During the Civil Wars to Unite the Old Mali empire the Wolof king turned his back on the rising king, Sundiata Kinte.  Once Sundiata conquered the nations, he turned and chased the  king through Africa and to the Western Coast of Senegal.  Once there, Sundiata  forced him and his people to  dance and expose their genitals, a way of expressing their shame for their tribal conduct.  I don’t know if the story is true, but there is definitely no dance form like Sabar, where the movements are so openly sensual and sexual.  It may have started as a dance of disgrace centuries ago, but it is definitely a moving, sensual and erotic form of dance.