If you buy the instruction books to go with your CDs, they have all the instructions on teaching. When you are working with beginner dancers, though, you will want to call the dance to remind them what is next. Simplify all your reminder "calls" to only one or two words per move, and write those on a card for calling reference. The detailed instructions can go on the back, if they fit.
Teaching dances is not as hard as it sounds. Natalie and I were terrified the first few times we each tried. My first time... Natalie scheduled a house party, printed off a bunch of instructions in German, and then decided I could call them (despite my not knowing any German). That caused some entertaining new calls. The first time you try to teach a handful of people, make sure you are teaching a small group of friends (6-10), and only plan to teach 6 easy dances (make it a house party, chat and eat between each dance, but don't go over 6 dances or you'll feel overwhelmed and nervous about doing it again... more than 6 takes experience and stamina).
I should note that the dancers will wait until you finish telling them what to do before they do it, so as you gain experience, learn to tell your dancers what to do before it gets to be time to do it. That takes a little time to master, and requires learning to listen to the music, so don't worry too much if you don't get the hang of it right away. Oh, and a co-conspirator is exeedingly helpful when it comes to figuring out how a dance is put together. At the beginning, we had little game pieces so that we could move them around and imagine where they were. Now, Natalie and I are quite good at dancing with ghosts.