I've been always wondering how to lucid dream,It's quite a challenge for me to focus and everything. Please lend me a hand? I always felt jealous of all my friends who could lucid dream,And I wondered if I could somehow obtain this ability?

P.S. I managed to get really serene and stange realistic dreams. Like in one,I've kissed my girlfriend. It felt like I was there. Could she be contacting me somehow?