After a few attempts at a lucid dream I finally got one! 
It started in the street across the road from a friend's place and i saw a washing machine in the driving seat of my mum's car. A police woman on a horse was watching it intently, then walked way. The dream soon reset and the police woman on her horse were there again, which was when i became lucid. I was so happy and ran inside my friends place and found a wall. I always wanted to walk through a wall so I tried and I couldn't pass through on the first go. I stopped and told my self it was only a dream and I could walk through the wall no problems. Then, to my delight, I did! Ready to try something new I tried to think of something fun but the harder i though about things to do the more i felt detached from my body and this eventually led to me waking up. I could almost feel my brainwaves changing from very relaxed to the same as if i'm wide awake
My question is, how to you think normally inside a dream without waking up or having the dream become hazier. Or does this eventually not became a problem as you get more experienced?
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