What follows are YouTubes, so may not be, at all, what's desired.
But they're what I refer people to.

My favorite "history of contra dance" is the YouTube
   
    The new Contra commercial - A short history of Contra - Part 2 of 7
    https://www.youtube.com/watch?v=CG6vVoiFT9c

which, I assume, is simplified, but does map to my entry into contra 35 years ago.
(And which has implications re demographics of our dances.)

Our dance's website currently has 3 videos from our dance on the home page
followed by 3 videos to show what contra dance can be like. 
I suggest checking out the 3 videos about contra dance (currently includes the above short history).
Here's our website:
 
    http://atgaga.com

Jim Crawford, from Atlanta, has done slews of YouTubes promoting contra dance,
including YouTubes of the basic figures.  Search, on YouTube, for
    "jim crawford contra dance lesson"
and you'll find his YouTubes, including dancer lessons by Seth Tepher and Cis Hinkle.

Sincerely,
Heitzso

p.s. (way off topic)  I'm excited that one of our teen sound helpers invited 9 of his high school friends
to come to our contra dance this past Saturday, all of whom were comp'ed in. 
We ended with about 70 dancers, well over a third of whom were students.
Our youngest dancers are elementary school aged children.