Have you ever had a "LUCID DREAM" ? definition inside !

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Lucid dreaming (as stated by www.wikipedia.com) is the conscious perception of one's state while dreaming, resulting in a much clearer ("lucid") experience and sometimes enabling direct control over the content of the dream. Essentially, being somewhere and knowing its a dream. Have you ever had an experience with this and what happened? I've had them when I was younger, but people believe now that they can control it.