Lets say i was trying to do the WILD technique or whichever one thats just plain trying to go straight into lucid dreaming. Do you HAVE to wake up and then try to do it, or take a nap before, or is it possible to get into a lucid dream just by going to bed at a regular time without sleeping in the past couple hours? I dont exactly like the idea of waking back up to do it, I mean I could, but i was just wondering if it was possible.