I think every technique I've read about says you have to wake up after 5-6 hours of sleeping. Is there anyone here who has had lucid dreams just when going to sleep at night like normal? Or is the after 5-6 hours of sleep and waking up an absolute must? I know personally I've only LDed either after getting up after 5-6 hours of sleep or when taking an afternoon nap. Anyone here good enough to pull one off during regular sleep and if so with which method?