This has been a topic of interest for me for many years now. When lucid, you have one foot in the concious and one foot in the unconcious. I often wonder why Freud didn't take advantage of lucid dreaming.

Probably one of the best mechanisms in exploring the subconcious is to find a knowledgeable dream guide, sit down with them, and have some conversations.

It's quite fascinating because sometimes they will evade the question, or try to distract you (your subconcious trying to hide something).