I have the problem too where I'll lay there for a long time, and just get sick of it, or uncomfortable and just turn onto my side. I've noticed that when I'm actually trying to fall asleep it's harder for me than when it just sorta naturally happens from me laying on my side and just thinking about random stuff and then falling asleep.

I've had a couple of lucid dreams. One of my best ones occured when I had to get up for an 8 AM final. I got up at 7, went to take my final, got back around 10 or so and went back to sleep, and I had an amazing lucid dream without even trying. Another great one happened a couple nights ago when I got up at 7 to go snowboarding, but my friend called me and told me he felt sick so we weren't gonna go, and I went back to sleep an hour and a half later or so, and I once again just naturally had an amazing lucid dream. I hate the feeling at the end of the dream when you know you're gonna wake up in a sec.

I'll start a new topic if no one answers it in here, but I've had a problem where I can't seem to change the scene in my dream. I try the whole closing my eyes thing and then imagining being somewhere else, but when I open my eyes again i'm still in the same place. Any suggestions?