Stayed saucy, twirling with tango (5)
I believe the answer is:
dwelt
'stayed' is the definition.
(I've seen this before)
'saucy twirling with tango' is the wordplay.
'saucy' becomes 'lewd'.
'twirling' says the letters should be written in reverse.
'with' says to put letters next to each other.
'tango' becomes 't' (phonetic alphabet: alpha, bravo, charlie etc.).
'lewd' backwards is 'dwel'.
'dwel'+'t'='DWELT'
(Other definitions for dwelt that I've seen before include "I dreamt I . . . in marble halls (song)" , "Spoke at length" , "was established" , "Lived, resided" , "brooded" .)