If you aren't comfortable grinding on your partner then definitely Samba.
Personally, I like the samba but I really haven't been exposed to too much Kizomba. I like the samba beat and trying to move to the speed and timing of it. I'm not sure where Kizomba is big but with the Samba you can go to Brazil and party in Carnival.
I looked up some other Kizomba videos and just decided I don't like the dance from your link, but I did like these two links
as I could see many more dance elements on display.
[This message edited by MovingUpward at 3:34 AM, March 30th (Saturday)]