In ancient times yogis practiced celibacy so that all of their energy could be directed toward spiritual advancement. Makes you wonder: How could these supposedly wise guys have gotten it so wrong?

Today yoga lovers are finding that more time on the mat means more--and steamier--time spent reveling in their newly toned bodies. To take a walk on yoga's carnal side, add these moves to your routine. Or just do them by themselves to turn up the heat.

Flex Time Is Sex Time

Having more flexible muscles and joints definitely helps in assuming those compromising positions. Opening your hips in particular gives you a wider range of motion in your nether regions, allowing for more direct stimulation in just the right spots. After all, one micro-movement in missionary is sometimes all it takes to ring the bell.

Sex Rx: Bound Angle

In a seated position, bring the soles of your feet together, put your hands on your ankles, allow your knees to relax toward the floor, and hinge forward at the hips as far as is comfortable. Hold for 10 to 15 complete breaths (inhales and exhales).

Power Up the Pelvis

Strengthening one key muscle helps you engage and lift the pelvic floor, bringing you more sensation and control during those hot times.

Sex Rx: Root Lock

You may also hear this referred to by its Sanskrit name, Mula Bandha. Seated or standing, contract and then release the pubococcygeus muscle located between the pubic bone and the tailbone, as if you wanted to stop the flow of urine. You can even do this at your desk, say, 10 times at three workday intervals.

Sex Goddesses Go the Distance

Shake-the-headboard sex is hard work. "The better shape you are in, the more pleasure you have and the longer you can do it."

Sex Rx: Yoga Push ups

Start in the pushup position, arms extended. Engage your abs as you lower your body slowly toward the floor. Stop when your torso is about 2 to 3 inches away. Keeping elbows in, hold there for five breaths, then lower to the floor. Repeat three times at first and build up to five.

Charge Up the Bed Batteries

A killer day at work can leave you too beat to boogie. But a few minutes of nonstrenuous yoga when you get home can mean one less night with Netflix and one more erotic evening entwined with your sweetie.

Sex Rx: Legs Up the Wall

Change into some yoga-friendly clothes. Lie on your back with one hip touching a wall. Swing your legs up and turn your body so you face the wall, legs resting against it from heels to butt, arms at your sides. Bring your awareness to your breath and focus on it for 5 minutes. This position allows more oxygen-rich blood to flow from your lower body back up to the heart and the brain, so you'll get up reenergized, refocused, and ready to rumble.

Breath of Desire

While most poses help prepare you for a libidinous rendezvous, this breathing exercise can actually heighten your pleasure in flagrante.

Sex Rx: Breath of Fire

While you're in the act, take rapid, forceful, and rhythmic breaths through your nose with your mouth closed. Don't worry if your partner thinks you're hyperventilating; he'll forget all about it when you reach a spine-tingling climax (and no doubt take credit for your fulfillment).

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