In my experience thus far, some books can be very helpful. There is a great wealth of information on the internet concerning buddhism and specifically, Milam/'Yoga of the Dream State' practices.
One such book is 'Dream Yoga and the Practice of Natural Light' by Chögyal Namkhai Norbu Rinpoche, edited by Michael Katz. You can visit his website http://www.nydzogchen.com/ for more information and other resources. It is also available as an e-book; PM me for more information.
Based on what I've learned so far, I agree with Follower when he says that lucid dreams are, more or less, something of a by-product of the Tibetan practices. Dream Yoga is used in an effort to attain what is called Dzogchen, or Great Perfection. But, to say that the practice of Dream Yoga is not for conventional LDers, I disagree. I think that there is much to be learned from the teachings. However, in response to bro's question, these practices do require a considerable amount of discipline and are not to be approached lightly as one can easily become frustrated with their lack of progress. I am confidant though, that anyone, with determination and respect for the teachings and the history behind them, regardless of any previous/standing religious commitment, can benefit from them.
Also, for those of you who are interested but hesitant to take that first step for a lack of information, please visit this site: http://www.e-sangha.com/ It is an online community of many, many buddhists, in addition to just as many, and likely more, lay buddhists. It is a great resource of information where all are eager to help answer questions, as would be expected.
This is a a popular prayer for progress in the practice of Dream Yoga:
"Kyema! Holy Buddhas and Masters of the Dzogchen Tradition
Grant your blessings that my mind may turn towards the sacred
Grant your blessings that all obstacles to my practice are dissolved in awareness
Grant your blessings that my dreams become clear and lucid
Grant your blessings that I rest in the luminosity of my own true nature."
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