I have lucid dreamt a few times before. About 3 or 4.
Recently I have been slipping into another state of consciousness while just lying down and relaxing. During this time that I am in another state of consciousness I am still slightly aware of my surroundings in the waking world but and dreaming. The dreams are just like dreams I have when I actually go to sleep but they are much harder to remember. It is weird. I feel like 10 minutes of doing this is equal to a few hours of sleep. I can mostly do it on command.

Has anyone else experienced this?
Or does anyone have an idea of what this may be?

Thank you.