Men on a left lead, ladies on a right lead ... Take a regular traveling step and then two baby steps or weight transfers, pretty much in place or traveling just a little.  Repeat, leading on the opposite foot.  Count:  ONE-two-three FOUR-five-six ONE-two-three FOUR-five-six.   Prompt:  WALTZ-two-three WALTZ-two-three ....

This is a little naive, of course, but it is all you need to join the dance.   If you decide to learn some patterns and some fancy turns, fine.  You'll enjoy the waltz all the more if you do.  But don't wait; life is short.  Hurry and join the dance right now!