I usually hardly ever take naps but sometimes when I put my daughter to sleep I will end up falling asleep on the bed with her. Almost every time I do I will end up in this paralyzed dream state where I can feel my physical body but I am also aware that I am dreaming. If you can reach this state it really is the simplest and most exciting way to have a lucid dream as your conscious mind is pretty much fully awake. It's almost on the line of having an out of body experience but I have also had those and know the difference.