I think I've only really had one moment of lucid dreaming, and that was just to end the dream early.
Quick summary of the dream goes like so:
I was taking a final exam for a class only to leave partway through. When I came back, the classroom was replaced by a wal-mart. I said "Okay, -blam!- this, I'm out," and woke up.
English
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I have very minimal control in dreams. Once I dreamed that a large moth (normal large, a bit bigger than my thumb) was like chasing me. Slowly. Then I went "Wait, moths aren't that brave", blinked hard in the dream because I know that's how to wake myself up, and bam, awake.