Please keep in mind that we do not allow broad questions in this sub. You are welcome to repost your question with a specific era or time period in mind.

I don't have a concrete answer for you, but here are some past threads that address older methods of contraception in general:

In early times, where brothels and prostitutes were a part of everyday life, how did the prostitutes avoid getting pregnant?

How did people have sex without getting pregnant before modern contraception?

What sorts of contraception did people use before condoms were invented?

This question seems like a contradiction to me, since any conscious effort to prevent pregnancy is a form of birth control. For example, and maybe this is what you were looking for (p. 335):

There is substantial evidence of birth control and infanticide in Mesopotamian and Egyptian societies. One of the earliest dated documents mentioning specific birth control techniques comes from the Kuhn gynaecological papyrus of about 1850 BC. Some of the many contraceptive pessaries described therein include acacia gum. As Riddle, Estes, and Russel (1994: 31) observe: 'Modern researchers have found acacia to be spermatocidal. When compounded, it produces the lactic acid anyhydride, which is used in modern contraceptive jellies.' The document also mentions three different methods of birth control: an application of a gummy substance to cover the 'mouth of the womb,' a substance made of honey and sodium carbonate that was applied to the inside of the vagina, and a pessary made from crocodile dung. Prolonged lactation of up to three years was also used as an Egyptian birth control device. There is scanty evidence about family size but it seems to have been too small in the nuclear families of Mesopotamia to suggest an absence of all attempts to control birth. For example, families recorded on the 'census list' in Harran, the upper Euphrates River, had an average of 1.43 children (Snell 1997:81).

So, there have always been methods of birth control from makeshift condoms to just stuffing leaves inside the vagina (a bit more complicated than that). I would argue that pulling out and abstinence are forms of birth control. I have also seen ancient infanticide called birth control, though it technically happens after birth. So I was a bit confused with your question, since birth control implies the attempt to prevent pregnancy, but hopefully I have answered it.