Lucid dreaming is when you during regular dream become aware, that you are dreaming. The feeling of realization is usually accompanied with the strongest feeling of joy, excitement, exhilaration. Since you know, you are dreaming, you can gain control (not always) of your dream and do anything. Fly to the outer space, drive a car, an airplane, swim in a tropical sea, talk to your dream characters (DCs), become a character from your favorite anime or movie, talk to your subconsious, just pretty much anything you want to do.

There are two main techniques to enter a LD.
1. is WILD (kinda what you were discribing) - you lat your body fall asleep while you keep your mind awake untill dreams start to form (this is during falling asleep process) and then you enter a dream while fully lucid - aware.

Very popular variation of WILD is DEILD.

2. DILD - when you fall asleep normally and during your regular dream you become aware that you are dreaming (thanks to your daytime practice).

Give it a try, you will not be disappointed. Here is a thread about what you can do in lucid dreams. Happy dreams