A complete list of all steps currently defined by ROUNDALAB along with their timing and phase can be found here
The following description of the rhythm is from the Harold and Meredith Sears website http://haroldsears.com/dance/figures/mambo.html
Mambo
4 beats/measure; 44 - 50 meas/min
Mambo originated in Cuba and is their national dance. It came to the United States in the ’40s and became widely popular in the early ’50s. Teachers promoted it and even developed three separate rhythms: the single, double, and triple Mambo, something we also see in our Jive and Swing today.
As a first approximation, Mambo is a fast Rumba. Many of the figures are the same as in Rumba or Cha, but to get them done in less time, you must take smaller, sharper steps with a somewhat tighter hold. The rhythm is down in the floor and choppy. Where Rumba is smooth, Mambo is quick and sharp.
Each figure has a staccato, rocking appearance and then a pause as though you are catching your breath before the next figure. Given the speed, the hip action is less pronounced. Take each step on the inside edge of the foot early in the beat, then shift weight to the flat at the end of the beat and straighten the leg. Taking weight and flexing the off knee draws the supporting hip in the direction of the step, so the appearance is that of stepping with the foot and then the hip. The timing would be something like “&/1” - “edge/flat.” Count: &1, &2, &3, pause; but count fast.