It's been quite some time since I've added a nineteenth-century American contra dance to Kickery. Here's a waltz contra from the ever-useful Elias Howe that, with only a few bars of turning waltz, is an easy dance for beginners. The set of figures appears in near-identical form in at least four of Howe's numerous dance manuals: the Complete ball-room handbook (1858), The pocket ball-room prompter (1858), and the American dancing master, and ball-room prompter (1862 and 1866).
The original text:
First couple balance, cross over and go down outside below two couples — first couple balance again and waltz up to place — down the centre, back and cast off — swing six
In the two 1858 manuals, the figures appear under the name "Aurora Waltz", and in the 1862 and 1866 books, they appear under "Hungarian Waltz". I think that as with earlier country dances, the names actually belong to tunes, rather than the dance figures, and I have no special preference as to which tune and name should be used. Very similar figures (minus the waltz up the center and with a right and left instead of the swing six) appear at least as far back as the 1850s as non-waltz contra dance figures (under several different names) in Howe's and other manuals. It looks to me like Howe just made minor tweaks to a common set of figures to take advantage of the waltz music.