http://www.catholic.com/library/Birth_Control.asp
Birth control has been around for millennia. Scrolls found in Egypt, dating to 1900 B.C., describe ancient methods of birth control that were later practiced in the Roman empire during the apostolic age. Wool that absorbed sperm, poisons that fumigated the uterus, potions, and other methods were used to prevent conception. In some centuries, even condoms were used (though made out of animal skin rather than latex).
The Bible mentions at least one form of contraception specifically and condemns it.
Coitus interruptus, was used by Onan to avoid fulfilling his duty according to the ancient Jewish law of fathering children for ones dead brother. "Judah said to Onan, Go in to your brothers wife, and perform the duty of a brother-in-law to her, and raise up offspring for your brother. But Onan knew that the offspring would not be his; so when he went in to his brothers wife he spilled the sperm on the ground, lest he should give offspring to his brother. And what he did was displeasing in the sight of the Lord, and he slew him also" (Gen. 38:810).
The biblical penalty for not giving your brothers widow children was public humiliation, not death (Deut. 25:710). But Onan received death as punishment for his crime. This means his crime was more than simply not fulfilling the duty of a brother-in-law. He lost his life because he violated natural law, as Jewish and Christian commentators have always understood. For this reason, certain forms of contraception have historically been known as "Onanism," after the man who practiced it, just as homosexuality has historically been known as "Sodomy," after the men of Sodom, who practiced that vice (cf. Gen. 19).