I had a Lucid Last night (2 actually, used WBTB for my 2nd one). I did a little flying in my 2nd one. The way I usually fly is, just by thinking about it. I lean slightly forward, and that tells my mind to make me move forward. I can increase my height by straightening out, and increase my speed just by thinking about going faster.

With me, I have no special technique for flying, I've just always been able to do it. The first time I ever flew, I just ran and jumped as hard as I could. Doing so made me soar up into the air a good 40 feet, and from there It just came naturally.