I've only had two lucids where it didn't end in two seconds, and they where pretty sick.
One of them I was climbing up a cliff above a river, and I climbed to far up and couldn't get down. realized I was dreaming, and I decided I'd just jump off. In mid air I pulled out a grappling gun like out of batman or something. I shot it into the cliff and it stuck and I swung. It might not be that impressive, but it was pretty cool