I tried sleeping in the fetal position, (legs up against your chest, arms, somewhere around there) I almost had a WILD this way, and I just had a MILD by using this technique, it was a loooong lucid dream too, and very vivid, most awesome...

anyway, go and try this and see what happens, i dont usually have lucid dreams, maybe about once every 2 weeks,
let me know what happens, okay?