Flamenco as it was intended to be viewed is raw and impromptu - at a gypsy wedding or in a prison canteen (I'm not joking - prisons regularly do flamenco competitions). But flamenco is also well suited to a nice sit-down dinner and a good bottle of wine. Venues where you can see flamenco like this are called 'tablaos'. Each has its own system but you generally pay a set fee for food, drinks and a flamenco show.
Click on the links for more details on each flamenco tablao.