What is the difference between Yoga and Tantra?

What is the difference between Yoga and Tantra?

Both aim at self realization but the expression is slightly different.

Yoga is slightly turned inwards. Tantra slightly turned outwards.

Tantra uses more fire, emotions.

Yoga, uses more clarity and silence.

Often yoga and tantra use similar practices (for instance singing mantras).

It is only when we trace back the lineage and origin of the technique that we can identify the technique as tantric or yogic.