i have only had lucid dreams a few times was i was very young and two or three times since.... but i found that i definitely have more vivid, complex, memorable dreams if i fall alseep flat on my back and back of my head.. of course its the hardest way for me to fall asleep....
i think alot of my dreams i actually am lucid and dont realize it.. if that makes sense.. i kind of know it most of the time, wen wen i realize it for sure it shocks me out of the dream..