For maybe 5 days I'm writing a story, with major part of the plotline taking place in dreams, lucidity being an important factor. And guess what? Over last 3 days I was getting lucid No RC, no WILD or other special techniques, just suddenly while dreaming I realise "Now this is one cool thing I'm doing, such things just don't happen, I must be dreaming" and I'm lucid...
...and twenty seconds later I'm awake