I wouldnt say i am experienced either, but i have had natural lucid dreams while i was young and now i can get them on occasion (trying to control it), but i can relate to the nice sensory display/concert. It freaked me out once but the next time i started telling myself this "my latent genius is awaking" over and over again (its something i repeat when i am about to sleep, i sort of anchored it and when i realized i was saying this i fell asleep and obtained semi-lucidity (i knew it was a dream but since i havent formed the habit of doing reality checks my "being" (who i am when i am awake) could not be called forth to control the dream). I am thinking that maybe you should anchor sleeping to a pharse or expression so when you are in that sensory "mode" it will put you into a dream (hopefully lucid)
p.s.- for the past couple of days i obtained semi-lucidity every night, i still cant figure out a good reality check for me.