In Hindu traditions, kama is one of life's four aims (purusharthas), and is considered essential and healthy if pursued with the other three aims: dharma (righteousness), artha (prosperity) and moksha (spiritual liberation).
Vatsyayana, the author of the "Kama Sutra," describes kama as happiness that is a phenomenon of the mind, or manasa vyapara. The "Kama Sutra" defines kama as pleasure experienced by the senses while in harmony with the mind and soul.
In a yogic path, kama should be acknowledged and fulfilled in a balanced way so that the practitioner can move toward freedom from desire, rather than getting caught up in the cycle of increasing desire, overindulgence and greed. When kama supports dharma, this is healthy.