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I know a guy on an old forum who claimed most of his dreams were lucid. I do believe that if you're able to cultivate the right level of awareness and the right mindset it is possible.
I believe the trick is mindfulness meditation. How can we expect to get lucid at night when we're going through our waking lives in auto-pilot? If we practice being here and now and being aware of the nature of our reality, that mindset will sooner or later be a part of our lives, both waking and dreaming.
That's one of the best piece of advice that I read in a long time.