The speaker of "Tango" asks to be touched so well that dancing no longer needs legs. It's a wish for a closeness so complete that the body's limits fall away, and the tone is half erotic, half playful. The tango is a dance of intimate partners, so the title sets up a feeling of pull and surrender.
Then the poem turns darker. The "piece of clockwork / where a man's age / is shown" suggests a body or a life seen as a mechanism, ticking forward and displaying how old he is. Time is always running in the background of this dance.
The ending is blunt: "we end in the dirt." Death, burial, or simply a fall to the ground, the poem doesn't say which. What surprises me is the speaker's calm. "I like it madam / you know me" sounds wry and unashamed, as if he's talking to a partner, or even Death herself, who understands him already. The mood is sensual, mortal, and strangely cheerful.