Any dream can be scary, regular or lucid. But if you have a lucid scary dream, you know it's just a dream and that makes it less scary. Plus, you may be able to control it and make the scary stuff go away.
If you ment if the induction is scary, technique called MILD/DILD is just like going to sleep normally. Nothing scary about it. If you try WILD, that can be involved with some hallucinations and sleep paralysis, that can be strange, if you not ready for it. But not everybody experiences it.
In lucid dream, you can think, make conscious decisions, like what you want to do. They can be very vivid, or less vivid. Every dream is different. So check out the Wiki for DILD and WILD tutorials and have fun. Happy dreams
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