 Originally Posted by BatteryCharged
...But it's just really hard work especially in the position on my back. I typically just give up and roll over because I'm too tired.
If you can't fall asleep on your back at all, then go ahead and fall asleep on your side or stomach. Though it is generally seen as a good idea to attempt a WILD while on your back (specifically because doing so makes it a bit harder to fall asleep too soon, ironically), there is no hard and fast rule to do so. The most important part of WILD is falling asleep, so succeeding at that is fairly important.
Is it possible to LD w/in a normal dream?
Yes, it is; that would be a DILD, or Dream initiated Lucid Dream. The best technique for DILD's is MILD (DILD and WILD are not techniques, BTW, but names given to the two ways you can transition to a LD).
Does it suddenly become colorful?
It can, but still might not. In spite of its name, lucid dreaming is not about vividness, but about the presence of your waking-life self-awareness in a dream. A dream in which you are totally lucid can also be quite dull or gray, just as a dream in which you are not lucid at all can be quite vivid. Once lucid, though, you do have the opportunity to increase the vividness or color of your dream, because, once lucid, you can do pretty much anything you want.
Is getting to LD as difficult as I feel it is?
Probably not; but you will have to provide some effort to be consistently successful. You might want to browse the excellent classes in the DV Academy forum, or the tutorials in the Induction Methods and Techniques forum, and see what might wok for you.
Also, I'm a bit panicked about SP as I've had some horrible SP in the past that scared the **** out of me. So that has me worried.
There is really no need to worry about SP, as it is not an integral part of the LD'ing experience. But if you can't help yourself, then you might look into DILD, which should keep you fairly removed from any chance of SP.
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