Lucid dreaming, ever do it?

[Grant]

Has anyone here ever done any lucid dreaming? For those wondering what that is, lucid dreaming is essentially being able to somewhat control your dreams. It's like a way you can wake up within your dream, so that you can take control. I've done my share of lucid dreaming, but the problem I have is that I can't fully control them, or I don't know I'm in one until it's too late.

Have you ever controlled a lucid dream? How did it go for you?