In "Return of the Jedi," Leia is captured by Jabba and forced into a slave outfit, but she never dances for him. There is a scene where Jabba's dancers perform, but Leia is not among them. She does, however, use her wits and a hidden weapon to help free herself and her companions.
It's important to note that the infamous "slave Leia" outfit and the scene where she is surrounded by dancers was considered controversial by some for its potentially exploitative nature.