In one lucid I went running to tell my sister it was a dream and that she was in my lucid just because I was so excited. Her response: "Yeah, I'm lucid dreaming too. You're in my lucid dream!" which totally shocked me.
In another, I was having trouble flying and a DC showed me how to fly.
About 50% of the time they are aware that they are in a dream, usually because I've been running around telling them But they never really have control over the dream, just awareness of the dream state.