You don’t need any special technique to discover Tantra.
What you need is a willingness to slow down and feel into yourself ever so deeply and lovingly. You can do this alone or with another. With another, slow down enough during your love-making so that you can feel everything that is alive in you and accept fully what you find. When you do that, love happens on its own. When you are on your own, relax your body, relax your breathing and practice loving what arises (rather than judging it, or trying to improve it)
This practice of loving what arises, not matter what it is, that is true Tantra.