Contrary  to what most people believe, tantra massage is not just a type of  sexual massage. Although they can indeed be very sensual and do wake up  the body's sexual energies, its main goal is not just sexual  gratification. The followers of Hinduism consider tantra as a way of  achieving personal growth through activities that give pleasure.  Accordingly, tantra massage may spark orgasm, but that is more a bonus  than the real prize.  
Tantra massage has several goals. One is to awaken the "kundalini", a  form of powerful energy that lies dormant at the base of the spine.  When the "kundalini" is awakened, it boosts the body's capacity to heal  itself. Tantra massage also aims to activate the "charkas" of the body.  Meaning wheel or disc in the ancient language of Sanskrit, the "charka"  is a center of energy in the body located on the spine. 
There are seven principal "charkas" along the spine, going from the  base of the spine to the neck and head. Another main objective of tantra  massage is to facilitate the body's healing in the physical, emotional  and spiritual sense. And not only the physical pain, tantra massage also  soothes the emotional scars and elevates him to a higher spiritual  level. 
As tantra massage is an extremely intimate act that involves  touching of sexual organs, it sometimes can leave the receiver in a very  vulnerable state. That makes it important that the giver of the massage  should be someone whom the receiver trusts fully and is comfortable  with. No wonder tantra massage is often done between lovers to elevate  the sexual experience. In this context, we can talk of two types of  tantra massages: "yoni" (vagina) massage and "lingam" (penis) massage. 
For "yoni" massage, pour some oil on to the mound of the yoni so it  drips down the outer lips. Slowly massage each outer lip between thumb  and forefinger, sliding up and down the entire length of the lip. Look  into her eyes during the massage and ensure she can see what you are  doing. Do the same for the inner lips of the "yoni." Take your time and  see her relax. Begin by gently stroking the clitoris in a clockwise and  anti-clockwise direction and squeeze it gently between your thumb and  index finger. She will be aroused but try to stop an orgasm just yet,  and let the sensations build. Insert the middle finger of your right  hand and gently feel around inside continuing to massage gently.
For "lingam" massage, put him to bed with a pillow under his head.  Put a pillow under his hips as well and spread his legs with his knees  bent. Expose his "lingam" completely and begin to gently massage all  over his body, keeping this area untouched for a while. Pour some oil  over his shaft and testicles and softly massage his testicles. Now  massage the area on the pubic bone above the "lingam." Massage the area  between his testicles and his anus (perineum). Then gently grasp the  base of the "lingam" with your right hand and move up the shaft and then  remove your hand. Repeat with the left hand and do this for a while.  Change to grasping the "lingam" at the top, slide down the shaft and  remove your hand, replace with the left and repeat this process. Massage  the head of the "lingam" in a circular motion. Even if the "lingam"  goes soft, it will shortly perk up again. Keep bringing him close to  orgasm and then back off because it helps him control his ejaculation  and achieve longer and more pleasurable orgasms. 
So, tantra massage gives both physical health benefits and sensual  pleasure. The giver of the massage should expecting nothing in return.  The receiver should open him/herself to the effects of the massage  without the necessity of reciprocation. Sensual pleasure does not always  mean sexual pleasure. A session of tantra massage need not end up in  actual sex. Tantra massage utilizes specific massage and breathing  techniques that are very useful.
(Source: www.articledoctor.com)
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