What Zoth said ^

To keep me motivated I just keep a goal in mind, and practise visualising it throughout the day, so once I get in a lucid i'll know exactly how to do it and have no doubts.
My best lucid so far, the first thing I done was bend a lampost in half (to prove my family i was lucid mind you) i done it flawlessly because I had been visualising bending and morphing the enviroment for a while.
Where as flying, I dont ever visualise, and couldnt fly for shit in my lucid.
Atm im focused on creating fireballs