Hi, I'm Eliza!
I have dreamed lucidly before. My most recent example was a few weeks ago, when I was in this large, metal factory-like building, and I realized, "Wait a minute... I think I'm dreaming!" I got really happy after that and randomly tried to get a unicorn to appear in front of me. It didn't, but some giant spidery thing did.
I woke up after that.
Tonight I'm going to attempt to lucid dream on command and take better control of my dream. Wish me luck!