How to Differentiate Between Tantra and Sex

Tantra has kind of a bad reputation in many circles like I with for a long time. There is definitely a sort of sleazy side to it or a less bounded side maybe say a little bit about that how does one differentiate? If you're starting to explore this and wondering where to go check in with yourself both from the place of the head right so you don't do you restart ask around explore what's there use the good head stuff to start finding out what is there, then go along and have some experiences.