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So you effectively have to fall asleep whilst remaining conscious? Christ.
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Yeaaa.... But sometimes it just happens automatically. Specially if you have a lot of stuff on your mind, which follows Mac's suggestion. At least the last time I had one, was because I went to sleep kinda late, and couldn't really fall deep asleep as it was. Then suddenly I was sucked into my own world.
I dunno. There are websites dedicated to lucid dreaming. They probably have a lot of info. But a lot of them are also intertwined with Astral Projection stuff, cos somehow these two belong together. According to the peeps anyway.
Edit: A quick google search and found this FAQ if anyone is interested
http://www.lucidity.com/LucidDreamin...l#dreamcontrol