What It Is: In case no one ever laid it out for you, yoga is a spiritual and physical discipline involving breath control, meditation and postures.

Bedroom Benefits: You might not instantly connect the meditative nature of yoga with sex. But "by practicing yoga regularly, you can expect to have more awareness of your own body and feel more relaxed in the bedroom," says King. "This relaxation can lead to being more in tune with your body, which will help you achieve sexual satisfaction." Not to mention yoga "can improve your flexibility, stamina and staying power" -- great for broadening your repertoire of go-to sexual positions. For example, plank pose strengthens your core and shoulders, "which will help you stay on top longer and look good while doing it." The breath training in yoga can also help you last longer.

Who Should Do It: "Anyone looking to relieve stress, tension, anxiety and achieve more balance and physical fitness in their lives," says yoga instructor and co-founder of SweatGuru, Jaime King. It's also a good activity for people looking to improve their sex lives, who aren't comfortable using poles and boas to do so.

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What It Is: "Most classes include a dance-style warm-up, learning some techniques and moves, then doing follow-the-leader style dancing or learning choreography," explains Bollywood dancer and instructor Samira Shuruk. Picture those fun, sensual shimmy drills.

Bedroom Benefits: "Belly dance addresses self-confidence," says Shuruk. "It's very freeing for Western women especially, because it helps them 'make friends with their jiggle,' and let their bodies move in a sensual way." In everyday life, we have to tone down our sensuality, but "this dance form liberates sensuality in an empowering way."

Not to mention belly dance is a real workout. "It tones the entire core from thighs through torso... It's also a cardio-vascular workout, which can help with bedroom stamina," says Shuruk.

Who Should Do It: There are forms of belly dance that can appeal to almost any age and experience level, though the sensual, curve-flaunting movements can particularly benefit women who struggle with body image.

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What It Is: Pilates is a mat-based workout system involving exercises that strengthen and stretch the whole body, providing control, balance and body awareness. The exercises themselves aren't sexy, but the benefits can be.

Bedroom Benefits: "Pilates targets your core, strengthening your abs, back, butt and pelvic floor muscles," says Shuruk. So you can expect stronger orgasms. Since Pilates is such a great overall workout, you can also expect circulation improvements, great for "people who have blood flow issues in the pelvic region." Ultimately, the strong core gained specifically from Pilates helps you feel physically powerful, which can rejuvenate emotional and sexual power.

Who Should Do It: "Pilates has the reputation for sculpting hard-bodies," says Shuruk, who also teaches Pilates. But more importantly, it's also great for those looking to "relieve pain, keep back issues at bay and improve posture" -- all extremely important for enjoying intimacy, especially during and after middle age.

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What It Is: Lastics is a stretch workout, which can be done in class or at home. "We start standing, warming up by stretching the back, hamstrings, arms and abs," explains Lastics founder Donna Flagg. Then the workout moves through seated and supine positions, targeting each muscle group along the way, from hamstrings and inner thighs to feet, chest, shoulders, arms, obliques and more.

Bedroom Benefits: Deep stretching "connects you to your body in a deep and visceral way, which enables you to know your body better, giving you more confidence using it in intimate situations," says Flagg. "That gives you a sense of freedom [in the bedroom]." In particular, Lastics gives you better control and mobility of the pelvis and more flexibility in the legs, helpful for all those repetitive pelvic motions required during sex.

Who Should Do It: Flagg says Lastics is best suited for people who are active or want to be more active in their everyday lives. It's also great for people who "experience discomfort from muscle tension and tightness."

What It Is: The Prime Workout is a 15-minute strength-training workout developed by celebrity fitness trainer Jackie Warner, aimed to sculpt the shoulders, back, abs and glutes to create the ideal female proportions. That's an hourglass figure, where the shoulders make a perfect V-shape toward the waist and out again at the hip. This workout specifically targets the relevant muscle groups -- click here for a full play-by-play of the workout.

Bedroom Benefits: According to Warner, studies show that men tend to be attracted to female bodies with a low waist-to-hip ratio -- meaning one with a healthy amount of body fat. Sculpting the muscles to create that ideal hourglass proportion triggers a biological reaction in men (and women), making them want to race you to the bedroom, says Warner in her new book, "This Is Why You're Sick and Tired," where you can also find the workout.

Who Should Do It: Having skills and confidence once you're already in the bedroom is one thing, but attracting a partner to get there is another. This workout is for women looking to physically sculpt their body and boost their confidence to look and feel more attractive to sexual partners.