Tantra is an esoteric art and science that blends physiology, psychology and philosophy. Its originated in ancient India, dating back to sometime between 7000 and 5000 B.C.E. Tantra views the polarities or seeming opposites in life, at all levels of existence (physical, intellectual, emotional, and spiritual) as coexisting like flip sides of the same coin. Tantra cultivates a way of being that embraces every aspect of experience as an opportunity for growth. Joy and sadness, pleasure and pain, love and hate, the sacred and profane, eros and spirit all become vehicles for awareness and transformation.
In the Hindu view of creation, the sexual and spiritual union of Shiva with Shakti gave birth to the universe. The god Shiva is seen as the embodiment of pure consciousness and his consort, the goddess Shakti, is the embodiment of pure energy. Their union in Indian mythology represents human existence as an erotic act of love that combines their two essences. The ecstatic dance of Shiva and Shakti is the archetype of passionate communion that touches our longing to be one with another. The image of the Tantric marriage is a balanced union of opposites joining forces in a creative union that is the essence of Tantric sex.
I suggest you buy a copy of the video Ancient Secrets of Sexual Ecstasy produced by Tantra.com and available through this website. The video contains real life couples practicing Tantric lovemaking in a tastefully produced video. For information on love, sex, tantra and communication I suggest my book on the Kama Sutra. The Complete Idiot's Guide to the Kama Sutra. Available in the near future through the Tantra.com catalog.