All I can tell you, is that there's this bit in the mornings - only mornings where I sleep in - where I can feel the waking world and hear what's going on, but I'm still in the dream. Most of the time, I wake up about five seconds after, but I found that yelling, "I'll stay in this dream!" drives away the feeling of my covers and hearing my sisters bicker upstairs (which they do every morning. ). I can still hear them a little bit, but less, and the dream feeling comes back. But this morning I just thought, "Oh, screw this." and woke up. I found that if I naturally wake up early in the morning, it doesn't work because I'm not halfway through REM.

I'm not sure how long a lucid will last if this works. I'll try it again tomorrow, since I've got nothing on until afternoon.