I did it last night. I was in a dream, driving through a town next to mine. I was then walking through a path in this town, and at the end of the path I was back in my town.

I looked at the guy walking with me and I was like (wow man.. how did we get back here so quick?)

and then it hit me.. I gotta be dreaming!

I got all happy, my dream body felt all tingly.. and then I forgot about being lucid and kinda just went back into my dream

it was one of the most vivid dreams I've ever had though..