Might be a bit frustrating at first but all you need to do is pay attention to his body language.
- When he is nodding: right stick up and down.
- When he is shaking his head sideways: right stick left & right.
- When he moves his arms up and down: press d-pad up.
- When he doesn’t move anything and just squirming in your hands: A/cross + left stick to rub.