What you are refering to is called
Schuhplattlern. I don't know if you can take lessons anywhere, perhaps the Volkshochschule offers them, but I doubt it. The people who do it are normally involved in local village clubs called Trachtenverein, which are traditional dress clubs. I'm not sure if you really want to get involved in that, as it could involve a fair investment to get the right clothes, especially for the women. Some of their outfits can easily be worth over 5000 Euros. Also, speaking German/Bavarian would be an obvious advantage here. But to be honest, I don't know if such an investment is required or how welcome they are to new blood. The Bavarian band I play in has a few members and we've played for them when they do their dances, so maybe if you are really interested, I can find out some more information for you.
In the meantime, you can try and learn the steps from this
Schuhplattlern guide in English.