"Can" is tricky because it is a very old word which can be replaced by different modern words, and has different meanings in different context.
In the example you give, "could" is the past tense of "can", which can be replaced by "was able to". They mean the same thing, but "can" is older and shorter; "was able to" is more modern and verbose.
I give some examples of this in the previous question:
"can" or "could"- general possibility
A lot of it has to do with the development of the philosophical exploration of the concept of "will". We needed new and clearer ways to talk about things happening to go with our developed understanding of making things happen.
Does "could" mean that it became possible for me to have dance lessons?
Yes. It became possible for you to have dance lessons after getting half her money.
Does "was able to" mean that I successfully had dance classes?
No. You could have taken the money and spent it on something else instead. It became possible for you to have dance lessons after getting half her money, but it does not mean that you have successfully completed the lessons.
"She gave me half of her money, which I used to take dance lessons." is one of the ways to say that you have successfully completed what was made possible.
Hope this helps :)