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Does anyone who can lucid dream know how to control their dreams? I know from experience that trying to just change dream without waking up results in wake up almost instantly so does the change have to be gradual?
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To stop waking up straight away never think about trying not to wake up, in my experience I just wake up when I do that. I have also found that emotions wake me up too. When I first started Lucid Dreaming I pulled a small pill from my pocket, (in the dream of course

just assume it's there and it will be there) told myself it will make me sleep longer and swallowed it.
As for controlling things *shrugs* sometimes I can sometimes I can't but I usually find assuming something will happen is better than willing something to happen.