How did you discover lucid dreaming?
Did you have one spontaneously? Randomly read about it online? Are you one of those lucky people that have had them since childhood?
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I used to have nightmares when I was a kid, back in grade school in the late 80s At some point it occurred to me that I was just dreaming and could take control, so I did
Same for me, but instead of taking control I just used the lucidity to wake me up from the nightmare.