I am totally getting this situation. I think that he need to bk up a little. If you as her mother are not comfortable then that says something. As her mommy she is learning from you. Speak up before she gets to an age where she wont respect you for allowing her moves to be looked at as all wrong. She is only 5 and I have a 7 and 4 year old and I myself have had to learn to let my child enjoy and learn!
Only you know the full scope of the relationship all of you have. I would suggest that you look into alternative parenting techniques and if he is willing to do what is best for all of you then he will go with you. If he refuses to go (to help find a better way) then that should tell you where you, YOUR 5 year old, and he really stand. This is just a suggestion.
We do better as we learn better