I am not a lucid dreamer. I usually do not know when I am dreaming, and I don't have any say in what happens in my dreams. I have a friend, though, who can lucid dream. She can decide for her self how she wants the dream to go. She has an extraordinary imagination. If the dream doesn't go the way she likes, she just changes it. I don't know how you teach yourself to lucid dream, but she starts to create the dream while she's still awake.