You ask about Tantra.
The subject is vast and covers many aspects.
This site alone will keep you busy for a while:
http://en.wikipedia.org/wiki/Tantra

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In the West we seem to use the term Tantra mainly related to sex.

I consider our attitudes towards sex (and Death) juvenile, and major blocks
to our feeling free. So any support in that area is - A Good Thing.

Won't go into details here as I have covered it many times.
The major thing is that sex is prohibited at a time when our sexual energy
is awakening - the time when we need to be experimenting.

Some studies show that that the first sexual awakening is an attraction
towards the same sex.
Then intense infatuations towards the opposite sex (except in some people)
- that feel as though they are going to last forever - and usually last a
week or so.
Then the healthy way is to keep experimenting until we are experienced,
and feel something extra strong with a partner enough to live and and spend
an extended time with them. Until/if it is time to move on.

Again, not going into details here, but in order to be more aware about this
very powerful basic life energy we do need to study and take into account
the basic procreation instincts and the accompanying chemicals,

We also need to be aware of our highly constricting conditioning.
Strictly - only sex with your partner, and only for procreation.
Don't think so? Up to 1969 Washington it was a felony to have sex with
anyone except your partner - and only in the missionary position!
When I last checked it was still illegal in some states to have oral sex -
even with your partner!
And as for anal sex - not long ago some men were in still prison for this
'offence.'
(On America Television - blurring out nipples - even when only vaguely
showing - through a blouse!)

Most people never go beyond the very early stages of sexual desire -
because 'They' do not want us to. It is one of the most effective ways to
keep control - and the resulting frustration makes good soldiers.
Most people die sexually unfulfilled.

Best remedy: Just Do It.

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In the East:
"Sex has three distinct and separate purposes —
procreation, pleasure, and liberation."

And:
"Tantrism is a quest for spiritual perfection and magical power.
Its purpose is to achieve complete control of oneself, and of all the forces
of nature, in order to attain union with the cosmos and with the divine."

Out of many Tantric practices I think there are only two main ones that are
based on sex. Left hand and right hand paths.
The left hand path is... interesting. It invokes the 'dark forces' and
culminates in having intercourse with the dead body of a virgin girl.
(Not a highly recommended path for a person living in the West eh -
would be hard to find a young virgin! - alive, yet alone dead.)

The right hand path includes sex, and is not focussed upon it. Briefly:
Having attained a certain level of consciousness one applies to a Tantric
Master. Once accepted you have follow their orders - strictly.
Years of meditation and breathing exercises until one becomes ready for the
next stage - the Master selects your partner.
With eyes closed, mantras and meditations prepare you for the next step -
considering your partner as God.
At first, sitting opposite each other - with eyes closed - until you feel
prepared enough to open your eyes - and look down at feet - of God.
Then, over time, into their eyes; touching; caressing; and eventually gentle
intercourse - with God!

This is the situation.
To raise your vibration/consciousness to the point of being equal to having
intimate physical connection - with God.
Both partners are having intimate physical contact - with God.

With the penis inside, no movement. Just energy.
Eventually, not only becoming one with your partner, God, but integrating to
the point where it is not integration, or even 'one with' - just... One.

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Not wanting to travel to the East and attempting to find a Tantric Master?
No worries - try a 'Do It Yourself' method - in the comfort of your own bed.

Free basic instructions:
First find a suitable partner .

(Preferably the opposite sex - it is to do with the opposites/complimentary
types of energy required. And if you are not drawn to the opposite sex -
you could experiment. It could work if the attraction is physical and not
just mental. That is a whole other story.)

A suitable partner is someone to whom you feel a gentle and loving
attraction. Best not an energy where you get 'all worked up' and just want
to rush towards a orgasm.

With eyes open, softly and gently caress each other - equally,
until you feel it is time for the penis to enter the vagina.

Still with eyes open, with the woman on top of the man, gently let the penis
into the vagina.
Then, staying softly still, looking deeply into each other, just allow.

After a while let the eyes close, feel an expansion of your love and respect
for your partner.

Don't look for it, and, this is what may happen.
At first your partner has a name.
Then the name dissolves and there is just the being of the opposite gender.
Then the gender dissolves - and they are just a being.
Then this being, and yourself, starts to feel more like - just energy.
Then your energies start to dissolve into each other.
Two energies dissolved into each other - until there is just one energy.
Then, One.
Then...

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Rough summery:
Western Tantra is about going beyond sexual conditioning
and into sexual liberation.

Eastern Tantra - Liberation.

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Wishing lots of gentle loving fun...