How can you lucid dream?

The trick is to recognize that you are dreaming, and to understand the limits.
When I dream about either of my parents, I realize it’s a dream. Same for my old Subaru.
At this point, you can control the dream, but only within the scope of the dream. If my surroundings include my old school or my parents house, I might be able to summon an old girlfriend, but not if I am at work, or running from a terrorist.

With dreams, different people tend to have different experiences.

One technique to develop awareness while dreaming, is to start a habit practicing tests for whether you are dreaming or not, that you do while you are awake. It helps if you can include in the habit, actually questioning whether or not you are dreaming or not, even when you are certain you are awake. Some things tend to be different in dreams from reality (and that may vary from person to person, but for examples, studying certain details of your surroundings, or trying to intentionally use an electronic device). This habit may tend to carry over into your dreaming, and can be an effective way to discover when you’re dreaming.

What you’re able to do next, will also vary, and may take practice. I tended to wake up a lot once I noticed I was dreaming.

I tend to prefer to experience and explore my dreams, rather than to control them. The main exception for me is nasty aggressive dreams. I now quite enjoy almost always being able to summon all sorts of gratifying power to overpower most such dreams.

Well, and also, setting intentions for dreams as I prepare to sleep, has had great effects. Again though, it gets better with practice.

I have done it but I can’t control it. To explain, while dreaming I have been able to control what happens in my dream. I decide to do this or go there etc., but I can’t go to bed telling myself to dream about this or that. Another weird thing about my dreams is I never have sexy dreams or to be more accurate, if they start to become that way they seem to be censored. Yeah, bummer, right?!

I only remember one lucid dream and that was when I was a child. I dreamed I was in the local sweet shop when I realised not just that I was dreaming but that I could control the dream. I remember the excitement and the haste to bring just one sweet to my mouth but I was too late and I could sense the dream ending as I began to wake up. It was so disappointing.
PS I have heard that plants give you lucid dreams but I have never tried this.

When you dream, it is the result of our subconscious mind’s sorting out the events of the day, the things it/you want to remember.

I had a semi-lucid dream last night but it still was cool.

I use guided meditations a lot. Hasn’t fully worked but helps me sleep.