Lucid dreams feel as real as I feel typing this now... but they are notoriously short. They will last longer once you learn to become emotionless(very hard to do). My best advice to to practice relaxation technique while visualizing. WILD's are easier then MILD's. DILD's to me are just a product of self awareness and, more often then not, occur randomly. Reality Checks (RC) can improve the chances however. Good luck!