What you were doing was not technically a dutch roll. It was a simple rudder coordination exercise that most (good) CFIs use to teach proper rudder input when banking (rolling) an airplane.

The way I teach this maneuver (in a Skyhawk) is to have the student place their feet on the floor, and use the ailerons to roll the plane back and forth, left to right. Without using the rudder, you can clearly see the nose of the airplane move in the opposite direction of the roll. This is adverse yaw caused by induced drag (slipping turn). I have the student do this several times to reinforce watching the nose slide from side to side opposite the direction of the aileron input and why this is undesirable.


Next, I have the student execute the exact same aileron rolling, but now emphasize using the rudder to keep the nose stationary in relation to a point on the horizon while rolling back and forth. Now we are using the rudder to cancel out the adverse yaw (slip), and can see the ball stays centered in the inclinometer, and we are making a coordinated turn.

Roll, and Step, Roll, and Step. This is what it sounds like you were doing. It is commonly (and incorrectly) referred to as a dutch roll maneuver, when it is simply a rudder coordination exercise.