I used to have no trouble flying as a kid, but nowadays it's a little harder. You just have to undoubtedly believe you can fly (which isn't always easy) in order to fly. Some people convince themselves that there is no gravity in dreams and they can float or fly without a problem.
Myself, I usually crouch down and leap upward or get a running start, willing myself to move forward through the sky and thinking about moving where I want to go. A lot of the time, though, I can only move slowly, or I fall back down the more effort I put into it and the harder it gets.
In some non-lucids I was able to fly at only about running speed by jumping into the air and slowly flapping my arms like a big pelican. Not a very speedy flight, but flapping my arms can usually get me somewhere.
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