Hi, welcome to Dreamviews!
You can have a lucid dream tonight if you set your mind on it, or any time after that. It depends on the person and their willingness to learn as much about LDing as they can - if you're very much dedicated to it, you can definitely have one every night with the right technique(s). The standard lucid dreams feels very real; you can see and feel your body, look at yourself in a mirror... You can also see things clearly, given there may be some slight distortion or change in between glances at an object, because dreams aren't perfect. I've only felt myself lying in bed one time out of many lucids, and that was after a WILD (wake induced lucid dream), which isn't an uncommon feeling. You just have to touch objects in the dream and forget about your real body.
I've touched many objects, walls, floors, and people (no awkwardness intended plz) in my lucid dreams, and they've all felt incredibly real. In one of my earlier LDs, I touched a brick wall and could see the texture almost perfectly, and felt the abrasiveness of the material on my hand. Then again, it depends on the dream - some dreams can be more realistic, clear, and easy to remember than others.
You can also hear, taste, and smell things. One's sense of taste in a lucid dream can be pretty bizarre sometimes - you might eat paper that tastes like strawberries (or something not as nice as that), or really tasty ice cream. If you expect something to taste a certain way, or something to happen in a certain way, it will - dreams operate on the beliefs and expectations of the dreamer. It's this principle that allows people to have large control over the aspects of their dream, from the way something tastes or smells to having special abilities. 
AscendedSleeper noted that lucid dreams often come with a feeling of freedom, and this is true. Besides this, you can literally shout at the top of your lungs in a dream and not wake up, or disturb someone who's sleeping in the same house as you. You can fly without moving an inch in real life. There are practically no boundaries in a lucid dream.
If you have any questions feel free to ask!
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