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I was rushing home from somewhere out in space, and I realized that it was impossible, so I became lucid. There as always was an initial rush, but I remembered to stabilize it, spinning and rubbing my hands together. When I was done, there were lights on the walls of my hallway, and I went out to talk to my grandparents, I wasn't able to muster much dream control this time, so I may have drifted out of lucidity at this point. They were saying things about each other that I will not disclose out of privacy, and I was talking to them in return.