Well, I just currently found out what a lucid is... And I've been doing it my whole life... I just didn't know I was doing it..
One of the most recent times is:
Well I couldn't sleep all night and when I finally went to bed I realized I was dreaming I didn't think much of it at the time.. So I wondered what it would feel like to fly.. I jumped up in the air levitated for a little while I was so excited that I almost woke up so I got back on the ground and I wanted to run as fast as I could... In my mind I was running approximately 80-200 MPH on a desert road. I soon woke up when I jumped off a cliff couldn't stop myself and sort of hit the ground and woke up... I was shocked knowing that I did that all by my self.. Like I said I didn't think much about it at the time..