After all the confusion around it, Tantra, like any other type of yoga, is a practice that helps find enlightenment. The enlightenment is achieve via an inner union of Shiva and Shakti, or the male and the female principles within a person. This transcendental union leads to the state of unity and non-dualism, letting a practitioner to experience the ultimate reality:God. Since the male or female principles exists not only within a person, but also without, in form of opposite gender, the union can be experienced through sex. The purpose of this Tantric sex, however, is not to fulfill lust or to procreate, but, again, to seek enlightenment and to experience God. Approaching sex with this goal in mind makes the sex Tantric; nothing else does.
Here is a meditation for you and your partner that you can perform together before sex to make it Tantric: The perfect union.
To find the trust to dissolve into each other, connect in the heart, the seat of truth. For this: find your own truth, find yourself first: Sit in your bed facing your partner, close your eyes, place a hand on your chest and listen to your own heartbeat. Both of you, connect to yourself and come to your senses. When you feel connected, place your hand on your partner's chest and listen to his/her heartbeat. Connect to the innermost of your lover. This is how you connect in heart, without anything to hide, and forgiven. Now look into your partner's eyes, look into infinity, without focusing, you'll see the ancient soul - this is your lover. Respect him/her for all he is. And then remember, you came from the same source, was wondering around, than, found each other, and now will unite again, as it was in the beginning, and always shell be. You are one. Now you are ready to enter each other's body, to unite completely and become One.
As a side effect, sought after in the West, a practitioner of Tantra yoga will develop sensual taste. The technique for this is simple: it is a meditation with all your attention concentrated on your senses, especially sense of smell, taste and touch. So, anything you do sensually, be it tasting food, or tasting a pussy, can be turned into a Tantric practice. Meditation means " complete concentration without interruption", so when you taste, do it completely and without secondary thoughts. Main job is to perfect this absolute concentration, keeping the mind still, listening to the silence within, catching the most subtle and intense feelings that will arouse, sharpen your skills - that takes some dedication, time and practice. Other than that, the practice is easy, especially that it can be an interesting and exiting trip for two or more individuals who attracted to each other sexually. During your Tantric practices you learn how to enjoy fully, and everything, including sex become more tasteful and juicy: You learn how to savor your life, and find pleasure in anything you do. This can bring great joy to your life and make it a heaven on earth, when you will enjoy every single moment of it_ you see, Tantra is not only about sex, it is about life. Of course, taken to the extreme by some bad people this practice can result in perversions or becoming obsessed with sensual gratification - to prevent this, you need to be pure. One way to be pure is to be innocent, another way - to be in touch with God and be purified by his presence as holy spirit who fills you with light. This is why Tantra is called a religion - it brings you in touch with the divine on the path to a pure pleasure and joy. Basic Tantric sex is between 3 in bed: you, your lover and the God, an orgy with holy spirit involved. This might sound strange for a catholic raised person, but Tantra believes the body is as holy as the soul and sex is a sacrament. So, enjoy your prayers.
Tantric practices are closely connected with awakening the inner Goddess, or Kundalini energy, who is feminine in her nature. She is the essence of the self, just like the essence of every atom, the inner fire, and aroused by any kind of activity that feels good, therefore, pleases her: dancing or music, but especially, sex. She responds to a playful, non forceful methods, and when you make love, connect to your partner's very essence, and play as if you were playing with a kitten. She will trust you and will respond to you. She will hide and withdraw as soon as you will try to control her or control your actions with your mind. She is the consciousness of the body, the dormant of the inner wisdom thousands of years old who is in the same time a ever yang and beautiful maiden possessing a tremendous power. She is wisdom of the body and doesn't like to deal with logic of the mind. May be this is why the most sexual women known to be "stupid" - they act irrational, using logic of the body, that is absurd from the point of view of the rational mind, but has it's own wisdom and intuition. So, try to discover and meet our own Kundalini, because when you both know how to play and arouse her in each other, your sex will be a tremendous experience and will help your personal growth like nothing else. The best way to discover her is through Tantric sex, that arouses Kundalini so she can meet Shiva, the pure Consciousness, who is residing on the top of the head and achieve self realization.
All the women around are just a faces of the same one female being, the Goddess. All the males around are the aspects of the same male, God. In this case, it is really doesn't matter with what male for female to pear, since we all came from the same source - than it's just a matter of taste. You can chase after many of them, but what's the difference? As they say: "The temperature in the pussy is the same". We are defined only by means of ego, only ego separates us from each other and from the God. Only because of the ego, being egoistic, we engage in fighting and suffering. On other hands, ego plays a good role wanting us to be the best we can, better than others, special, be seen on TV, Esc - it is an engine of worldly progression and development. It's like a game, or a theater when you look at it from the distance. As long as you realize the purpose of ego and use it with non attachment, you can gain a great power and success and still not loose your true self and the God. If you identify yourself with your ego you will still get success, but at what price ?- suffering, jealousy, chasing after many things instead of, in one leap, connecting with your source that has it all. The paradox is, as soon as you request the God himself, you loose any interest in anything else and all your desires vanish like a morning fog. It's only by the means of ego you want to own things, as soon as you let it go, you are free. And this is the real goal of Tantra: a union of two free souls, without attachment, bond by a love that equals and is God. This love can be compared to nothing on the Earth, it is a truly divine union, and both partners have to be ready for it spiritually. This type of union is above ego, that gives you a complete merge on all levels, and result in the most beautiful sex - because this is how our physical bodies connect. This is the difference between Tantra and the rest of religions: not only soul, but the body is sacred and connection happens in both spirit and the body, and is complete. The body in this case is a great instrument to experience love. Spiritual love is subtle like a sound of violin, love by means of the body is like an earthquake, both give different types of orgasm, and combination of both is a complete satisfaction and bliss. And both are the great aid for a good relationship, when sex is also a means of communication between two lovers- communication of deepest togetherness, that brings you physical comfort and peace. Sex is a prayer for body.
Union in heart, called love, brings union in body, called sex, and when this brings union in spirit, it is called Tantra.

A historical remark: Tantra have originated in India in the 10th century. There are many beautiful temples-about 85-were build, covered with famous erotic carvings. Most of the temples were later destroyed by the Muslim invaders who regarded this ravishing sexuality ungodly. Still, there are few temples survived in the city of Khajurano and can be visited.
This is how Madhur Jaffrey describes what life was like in times of Tantric India:"Both men and women wore their hair long, often tied in elaborate buns and decorated with jewels. Women were educated and participated in public debate. Both sexes moved freely in society, wearing garments that started only below the navel. The art and mechanics of kissing and love making were popular. Potions and elixirs to prolong life were known and used, but it was considered equally acceptable for a human being who had fulfilled what he felt to be his purpose in life to commit suicide in some holy spot. Suicide was not a sin and nether was prostitution. Although the Hindus believed in one God, the Universal Soul, they found no contradiction between worshipping him in the form of a gigantic phallus that symbolized His power of creation.
It was this mode of life that Islam was going to consider an antithesis to itself and seek to destroy. By 1193 Delhi would be under Afghan rule. Muslims were going to succeed in demolishing hundreds of north Indian temples. They were going to impose their morality on the people they were to subjugate. "Chaste" women were going to be swaddled and put behind the veil, and sex was going to be pushed into hushed and darkened bedrooms."
ASIA, July/August 1979