There are two broad paths of yogic traditions, these are the direct realisation methods and those based around methods or techniques.
Some of the best known direct realisation methods are Japanese Zen, Tibetan Dzogchen and Chinese Taoism.
On the technique side, Tantric yoga is one of the most wide spread and ancient styles, with a long history in India, Tibet and Nepal. And it has a mixture of meditational and ritual methods.
Tantra can be found in several forms of spiritual practice, for instance in some Hindu, Jain and Buddhist schools, and it can be expressed in a broad range of activities such as art and philisophy.
Tantric yoga contains ways of exploring the depths of human consciousness and has tools for transformation and liberation from the limits of our superficial human condition.
One of these methods is the transformation of sexual energy as a means of transcending the limited personality. These methods have been the source of a very limited view of Tantra in India and the West.
Tantric yoga focuses on the feminine aspect of divinity, as a means of developing a deeper awareness through wisdom and grace.
It promotes an appreciation of the qualities of receptivity, loving kindness and compassion. And it develops awareness of all forms of beauty, especially in nature.
There are ten main goddesses in the Tantric yoga traditions. These represent different forms of wisdom and knowledge and often form the basis of both meditations and rituals, which seek to explore and realise these qualities within us.
For example, the kundalini energy is perceived as a godess to be revered and surrendered to, not as something to control or to provide cheap thrills.
An excellent book on Tantric Yoga is: