We present a self-supervised approach for learning video representations using temporal video alignment as a pre-text task, while exploiting both frame-level and video-level information. We leverage a novel combination of temporal alignment loss and temporal regularization terms, which can be used as supervision signals for training an encoder network. Specifically, the temporal alignment loss (i.e. Soft-DTW) aims for the minimum cost for temporally aligning videos in the embedding space. However, optimizing solely for this term leads to trivial solutions. To overcome this problem, we propose a temporal regularization term which encourages different frames to be mapped to different points in the embedding space. Extensive evaluations on various tasks, including action phase classification, phase progression, and frame retrieval, on three datasets, namely Pouring, Penn Action, and ASM, show superior performance of our approach over state-of-the-art methods for self-supervised representation learning from videos.