Actually, REM sleep is the fifth stage of sleep, but not the only one where you dream. Dreams during REM sleep are much more fantastical and weird than NREM (non-rem) dreams, which are more to do about normal stuff and not totally insane, or so they say.
Your sleep cycle starts out Stage 1->2->3->4->5, then goes back to 4,3,2,3,4,5, and on and on. Over time, that fifth stage takes a longer period of time, which is why everyone always says that you should do these things about five hours into sleep. They're trying to get their bodies into that longer REM period so that they can have long crazy dreams.
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