I do not mean to make this sound of a lecture....I am open for critical responses and corrections. The way I see it; Yoga we strive to purify ourselves, we deny the world we try to be some kind of an ascetic to kill our lower selves and ascend; here is the picture; The Tantra, on other hand does not think we need to ascend in order to attain God's consciousness. We can do it if/when we transmute our desires and urges with awareness, we can use those energies to attain. When we see karma and reincarnation for what it is, i.e. the constructs of our mind, they will lose their potency and will have no effect on us anymore. Tantra is life affirming while Yoga is life denying. This does not mean to negate Yoga as Yoga works too. All methods work as long as they offer a technique not just mere talk. Tantra works better for a western mind.