During the school year, probably do to my poor sleep schedule I'd lucid dream ALMOST EVERY SINGLE DAY. But they only lasted for 10 minutes during afternoon naps.
Most of them were half-lucid, where I'd be aware I was dreaming but I would fail to take any sort of action.
Maybe 1/5 of them were full lucid, and those are really interesting.
I'd lie down on the couch, and close my eyes. Only during this afternoon nap, I would feel a "rising" in my body, like my mind was being lifted, followed by misquito noises and relaxation. Here I enter the state of hypnagogia, and I usually lose consciousness at this time.
During most dreams, I'd be aware its a dream. However, instead of actively participating it, for whatever reason in my state of mind, i'll let my dream-persona do what he does. Usually nothing mind-blowing in these dreams.
Other times, in the middle or towards the end of a dream, I'd gain total lucidity. This is usually followed by a "mind blown" sort of feeling, where I look around at my surroundings and stabilize myself, thinking about how FREAKING REAL everything feels, despite being a dream.
Techniques for a good lucid trip after gaining lucidity:
1) Don't think "OMG OMG I'm about to wake up, better do something quick"- I find that whenever I have this thought, the dream collapses almost instantly. Remain calm and think straightly after gaining lucidity. This might take some practice.
2) Don't do something completely ridiculous the instant you go lucid. Ive had alot of lucid dreams, where i'll have the impulse to blast off and fly to another planet the instant I go lucid. Don't do this, your dream will fade rapidly.
3) If you feel your dream collapsing, SPIN. Its worked for me several times. Keep spinning until you feel the "cohesion" and clarity of your dream-reality coming back together.
4) Find out how you can fly. In some dreams, flying is effortless, and just requires me to look in a certain direction and think, "fly". In other dreams, flying requires me to to "swim" through the air. The last form of flying Ive had, was were I can only fly by propelling myself off surfaces.
If you experience pain and tension on your physical body while doing this, its normal. Don't panic.
5) Master gravity: Most dreams of mine have very low gravity, and i'd end up bouncing around. Take this into account.
6) Don't have negative or paranoid thoughts after going lucid. You will have a lucid nightmare. not fun.
7) Appreciate the dream. What I like do after achieving lucidity is to sit down, stabilize myself, and concentrate on the dream world. You will be amazed at HOW REAL everything feels and looks. Try to stay in control of your Dream-body. If your actions start to lose its grip, and you feel your actions start to transfer over to your physical body, try the spinning technique.