I actually did!
Last night, I fell asleep at around 10:00. I woke up at two o'clock. I decided to WILD, so I closed my eyes and began going over a mantra, as well as imagining the feeling of rolling over in my bed and flying, as if I were dreaming. At around only 70, I began to see kindof a texture behind my eyelids, and when I focused too much on it, it was gone. However, my whole body soon went numb. But I didn't try to move and see if it really was SP, because I didn't want to spoil it if it really was. It probably was, though, because I was suddenly in a dream and I was lucid from the get-go.
I woke up in my bed at my dad's house, even though I went to bed at my mom's. So, I performed the nose-pinch RC to check and make sure I was dreaming and not all messed-up and all... and I could breathe. Then I looked at my digital clock and it was completely off; nothing displayed. Since the setting was dark, though, because it was night-time, I wanted to change locations; so I walked around and expected a portal to be around the corner. It was a metal computer with a green screen and different sections of the world on it, as well as an input thing... *Won't get into detail*
There's a bunch of other things that happened, because the dream was crazy long, but... yeah.
I also had a semi-lucid dream after that, without catching the waking-up-in-between-dreams thing. It started out lucid, but then I lost it, even though I was still following the plot I laid out when I was still lucid.
