This was my first time at this place. It's on a busy road near another bar, club, Haven Place. Like Haven Place, Desire is a nice friendly neighborhood kind of place.
I went early on a Monday afternoon, so it was quiet - in fact I was the only customer there. No cover. There were three dancers. Two were skinny, not bad looking but not my type. The third was gorgeous and friendly. I didn't have much time though, so I just had a beer, watched two dances, and left. Bartender was a friendly guy. Beer was something like $7 for a bottle, I forget. Dancers didn't take off their tops, but one said she would have if I'd tipped. The stage is behind the bar so I couldn't hand the money to the dancers and I didn't want to toss it, so I didn't tip and missed out. Oh well.
I have no idea about private dances or anything like that since I didn't have one. But I'll go back to this place, it seems really relaxed and friendly.