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Brahmacharya, celibacy or continence, is the fourth of the yamas identified by Patañjali in his Yoga Sutras:
2.29 The eight limbs of Union are self-restraint in actions, fixed observance, posture, regulation of energy, mind-control in sense engagements, concentration, meditation, and realization.
2.30 Self-restraint in actions includes abstention from violence, from falsehoods, from stealing, from sexual engagements, and from acceptance of gifts.
2.31 These five willing abstentions are not limited by rank, place, time or circumstance and constitute the Great Vow.Yoga Sutras of Patañjali, 2:29-31
Patañjali touches on each of the yamas and says this of brahmacharya:
2.38 When one is confirmed in celibacy, spiritual vigor is gained.
Yoga Sutras of Patañjali, 2:38
There are many different translations of Patañjali's Yoga Sutras and brahmacharya is one area where the various translations disagree more than in other areas. I have used BonGiovanni's translation above, which translates brahmacharya as celibacy, not because I agree with that interpretation but because prefer BonGiovanni's lack of commentary. I tend to agree more with the translation of brahmacharya as being continence rather than celibacy. Yoga is about control of self but not about stopping the thing being controlled. Patañjali says we should control our thoughts, not that we should stop thinking. With that in mind, it seems to make more sense that he would instruct us to control our sexuality and not stop it altogether. Along those same lines, if everyone practiced Yoga and everyone was celibate, then the human race would come to an end in one generation. I am positive that Patañjali never intended to bring about the end of mankind. Regardless of the interpretation, celibacy or continence, brahmacharya poses a difficulty that the first three yamas do not.
The first three of the yamas only become difficult as one begins to practice their nuances; after all, most parents teach their children to be nice to others, to tell the truth and to not steal. Sexual continence seems to be falling more and more out of favor with societies around the world. This trend of casual sex makes the practice of brahmacharya more difficult right from the outset. This begs the question then; why practice brahmacharya, especially if it's going to be difficult? If left uncontrolled, sexual activity can have a crippling impact on one's life. In extreme, sex can become an addiction so strong that it destroys lives. Most commonly though, uncontrolled sexual desires merely cause us to waste our time and energy on activities which provide little, if any, lasting satisfaction. Such lack of self-control can also cause our minds to be so full of sexual distractions that there is no room for anything else.
Self-discipline is the key just as it is in every aspect of Yoga. I recommend, as a minimum, strict chastity before marriage and strict fidelity after. By strict chastity and fidelity, I mean no sexual activity of any kind other than with one's spouse. For many, such a commitment alone is enough but, as with an asana, there are others who may wish to move deeper into the pose. Avoid pornography, or anything overtly sexual, and sexual innuendo. Restrain your thoughts, keep them focused on what you are doing. Most importantly, regardless of how deeply into brahmacharya you move, be passionate during your times of intimacy, even if that intimacy is only a kiss. If you practice being completely aware of what you are doing then you will find it easy to maintain your self-discipline and to be a passionate lover.
Pacticing brahmacharya brings a power that is both ineffable and seemingly ephemeral and yet it is very concrete; for mastering brahmacharya is truly mastering one's own self and the yogi who has mastered himself will find in himself the power to master any thing.
Namasté