Is there an equivalent to Kundalini yoga within Mahayana or Vajrayana Buddhist systems?

Kundalini yoga, as described in certain Hindu tantric lineages, describes the process of awakening a dormant spiritual energy located at the base of the spine. This energy is said to rise through a central channel, activating chakras along the way, and facilitating transformative shifts in consciousness leading to liberation. I am curious whether similar concepts or practices are found in Mahayana or Vajrayana Buddhism. Specifically, do these schools recognize a comparable energy system involving chakras or subtle body channels? Are there practices aimed at awakening and directing this energy in a way that parallels Kundalini yoga? References to authoritative texts, tantric commentaries, or the instructions of qualified teachers within these lineages would be especially welcome.