Interesting thing happened...

So I go to bed at about 2:30 - 3:00. I wake up at 11:30 but decide just to go back to bed. After I had long fallen asleep and in the middle of a dream I said to myself "Wait, I'm going to go into a lucid dream" as if I was still awake.

As I waited the dream went on without me noticing. When I tried to move my dream hand, I believe I had also lifted my real hand as well so I thought I was still slightly awake and just "day" dreaming.

I decided I wanted to have sex with a women first she didn't appear then later she appeared and we had sex. After we were finished I woke up immedietly with a small amount of sperm on my boxer briefs.

But the dream itself was non vivid, and weak, I figure it because I already had a nights worth of sleep. I never became fully lucid though but for some reason I thought I was deep enough in the dream state to have sex.
So I mark this down as a semi lucid dream.

Very interesting experience for me.