I first saw twerking about thirty years ago on a bus in Cambridge MA. Haitian immigrants, I think, and God help us all, they looked like siblings.
Westerners have condemned African dances as lascivious since they first saw them, but I don’t think contact twerking is the tradition.
I've always assumed it was invented by someone with extreme constipation, or from a land sans TP.
Thanks for verifying the later.