I've had about 3 lucid dreams in my life, the one that sticks out the most started from sleep paralysis which I've been experiencing since i was about 18.

I was having SP and was fighting to move, i then managed to drag my body out of bed (dreaming) and got out of my room and looked back into my room to see myself lying there, i then ran down stairs and remember thinking "wow i am actually dreaming" and didn't wake up... as i got to the bottom on my stairs i opened the porch door and walked into the porch, i then decided to try and jump through my front door which I did.

I was then standing outside and it was daylight even though i knew it couldn't have been, anywayz as i turned around and looked at the bush in my front garden and suddenly everything became much more sharper and vivid, each leaf on the bush was clear and the surroundings then followed... once everything became really sharp i decided to try and fly so i closed my eyes and i was kind of hovering over my road, i looked down the road and seen a figure riding a bike towards me so i decided to try and make contact, as i was hovering down i lost consiousness and faded back into a dream... i probably woke up about 3 mins later and was loving the experience.