The Sanskrit textbooks on the art of love form a continuous sequence from remote antiquity to the sixteenth century AD. It was compiled by the Indian sage Vatsyayana sometime between the second and fourth centuries A. This small and highly secretive organization privately published the Kama Sutra in and the Ananga Ranga in , the first ancient Hindu treatises on the arts of love to be translated into the English language. Since Tantra is an all-encompassing sensual science, love-making positions are relevant to spiritual practice. Different forms of tantra can be found in Hinduism and Buddhism , and it's been practiced for thousands of years. Concerning this, he wrote: The seventh and last part of the Kama Sutra is an appendix to the main work. In his Darwin and the Naked Lady , was published and drew attention to the value of Indian erotology. Undoubtedly the most successful of all has been: Aza explains that one practices tantra in order to connect with others, with nature, and with oneself. She explains that people often forget how important physical intimacy is to feeling spiritually grounded, but tantra places it on the same level as emotional intimacy. The terminology used by Vatsyayana is context specific. Five principle positions, all of which are found in the Kama Sutra, cover what is normally appropriate. My motive was to supply travelers with an organ that would rescue their observations from the outer darkness of manuscript and print their curious information on social and sexual matters.