Yes, lucid sex is definitely possible, as I'm sure you will discover soon. And yes, it is the result of practice and experience (but not a whole lot), so be patient, keep up the expectations, and be ready when the time comes.
A small warning: if you do succeed in having sex in your dream, don't be surprised if your waking-life body did its thing right along with you, and you wake up with a mess to clean up! 
 Originally Posted by liam12345677
Also, while we're on the topic of sex, wouldn't it just be possible to find a conventient 'sex pill' in your medicine cabinet which makes you have an orgasm instantly rather than having to go through all the trouble of stabilising the dream and having sex?
I never heard of such a pill, but wouldn't using one sort of take the fun out of the whole exercise?
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