I have not acctually had a lucid dream but i remeber i had one a long time ago when i was little by a fluke but woke up like 4 seconds in to it because i was scared.
However, if you ever are wandering through your thoughts before you fall asleep. Sometimes you catch yourself almost falling asleep and wake up again. Well one time when i did this and eventually fell assleep later i remebered all my dreams the next morning it was awsome. That may help with lucid dreams.
