Thank you Heather Cornell for providing the names of the dancers and musicians in these clips from Tully Hall:

The Ray Brown Trio:   Ray Brown (bass), Greg Hutchinson (drums), Geoff Keezer (piano)Dancers: Heather Cornell with Jeannie Hill, Max Pollak, Michael Minery, Olivia Rosencrantz, Josh Hilberman,  The piece is Gumbo Hump choreographed by H Cornell and composed for tap dance by Ray Brown.
Ray Brown (bass)  Heather Cornell (tap).  The piece is an improv – “Take me out to the Ballgame”.   Both these clips are from Alice Tully Hall in 1997.

And thank you Jenai Cutcher for pointing out that this clip and others from what I believe was an ATDF event were included in her important film Thinking On Their Feet: Women of the Tap Renaissance.