Ok, so i woke up early in the morning, i felt really tired so i went back to sleep. I remember laying there conscious, trying to go asleep. Next thing i know is that i started to feel like vibrations type of feeling and a loud buzzing sound. i just tryed to stay relaxed. Soon after that there was another vibration feeling and the buzz was even louder, then 30 sec after that i felt like i was going into sleep paralysis, it started from my feet up, but when it got to my knees i started seeing a scene forming around me, from the middle out. Before then everything was dark. Next thing i knew i looked around and i was in lucid dream. The dream lasted around 20 mins. Ive had lucid dreams in the past, but i never really know what kind of technique i use.

btw from trying to fall asleep to lucid dream, it all happened pretty fast, probably like 5mins.