Beleive it or not, Mambo#5 is not a very good Mambo. The tempo is pretty slow, and the Rhythm is more Swing than Mambo.
Still, if you want to learn Mambo, you can start with the Salsa clips on Ballroomdancers.com. The basic steps are mostly the same. Start with the Baic Step, Cross-Body Lead, and Underarm Turn R. You can also borrow some patterns from Rumba or Cha Cha and transalte them to Mambo timing, such as the Crossover Breaks.
However, for dancing to Mambo#5, you might find EC Swing feels alot better. And that you can find on Ballroomdancers.com, without having to do any "translating".
Sincerely,
Jonathan Atkinson