I've lucid dreamed a few times, and recently I've been trying to learn to induce them, and I've sort of, almost, succeeded.
First time, I was dreaming and I looked at my hands (I've got into the habit of doing this every hour or so as a test to see if I'm dreaming), they were slightly disfigured, my ring finger was smaller than my pinky. I realized I was dreaming but I sort of panicked and woke up.
Just last night though, I managed to keep lucidity for a decent amount of time. It started when I realized I was dreaming at which point I rubbed my hands together and focused on the feeling of it( I hear this helps to stay in the dream) but I was in bed, I got up, looked around, and everything was like, diagonal. Objects which should have been on the floor were slanted upwards (though they were still on the floor, it's just that the floor was also slanted... don't ask me what I was supposed to be standing on then). Anyway, walked around a bit and after a while I "woke up" and I was back in bed again. I was about to go "well oh fuck", and go back to sleep, but then I looked around and did a reality check again, I was still in the dream. This became a pattern, so I tried putting some clothes on to see if I could use that as a dream test, it worked, the next time I "woke up" I was wearing clothes and quickly realized I was still dreaming again. I tried to do what I usually do in lucid dreams, flying, changing my surroundings, and stuff, but I couldn't do any of it. I ended up just wandering around my house until the dream ended (I don't remember if I woke up or maybe I just skipped into another dream or something).
Maybe if I'm lucky it'll happen again tonight.