I did it!
I went to the bed yesterday evening with the thought "I will have a lucid dream tonight" in my head.
Then the next thing I remember is that I fall through an invisible "lucid door" without a "body feeling", but as soon as I'm on the other side, I land on a road and I can feel my legs landing, and everything! I was near an old hotel or something. I rubbed my hands immediately to increase vividness. I also did a nose-RC and it was awesome to breathe with a plugged nose! Unfortunately I woke up at this moment and went into a nonlucid...