I don't want to try to tell you an exact time that it takes, because then you yould put focus on that.
I have to tell you thought that if you are not near REM and unless you are a really expierienced meditator, you have to know that it takes more than 20 minutes, perhaps 30-40 minutes to enter a theta brain state which is just before the delta (dream) state. But if someone observed you as you did your attempt, yes you would just lay there, but the key is to keep a calm and a non-judging and analyzing mind.
Because it's when you do that your mind naturally enters the theta state (ideal for intent and affirmation) but relaxation of the mind and body speeds up that process and makes it easier.
And the hard truth is that, if you are not able to maintain a calm mind as you lucid dream, you can't expect a calm dream either. Just think about this, everything you think in a dream doesn't become, it already is! So if you are worried you will wake up, you'll tense up and wake up. If you are afraid that you wont be able to fly, you wont. If you are calm and confident that you are in control of the dream and it will be stable, it will be so.
The sensation you feel after 20 minutes is the sensations of the alpha which is nothing more but, sensations of your relaxed body like small vibrations perhaps a tone in the ear and so on. Many beginners are not used to their relaxed body so they think that it's the transitional state, and well when you first experience the transitional sate you wont hesitate because it's the same kind of sensations but a hundreds of times more intense.
But my advice for you is to learn to relax both the body and the mind and maintain awareness, because as soon as you do that, that is conscious sleep.
To counter the obstacles on the way, thoughts like "I don't want to do this anymore!", "My back itches!", "I feel stupid" and just observe them and not judge yourself, is the practise of meditation. Slowly and steady you will go torwards a state of mind with less thoughts and a calm and relaxed mind and when you stop looking for the dream the dream will find it's way to you.
This is the most advanced kind of lucid dreaming because it takes a little effort and you need to have the will to actually go through this process, but if you want to start out with something easier where you let your body go through the whole relaxation process and you start out at the transition instantly, then you should look up DEILD. You wake up near REM and will just feel in your mind that it is easier to transition or to say what you actually do, it's easier to switch your focus of awareness.
Good luck!
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