If you are interested you should check out "Out of Body Experiences". Basically, you put yourself in a state of extreme relaxation and your body eventually goes to sleep while your mind is awake. I researched a lot before I tried it and when I did, holy crap. One of the best experiences of my life. I remember being on my bed, casually tensing and relaxing the muscles in my body as well as picturing myself sitting up, except not physically. As soon as I felt myself being "shocked" (what many people say the feeling is like) I knew I did and I opened my eyes. What I saw was probably the clearest picture I have ever seen. My vision was zoomed in for some reason but everything was as clear as day.

It only lasted about 20 seconds but it was a life changing experience. If this is something you want to try, research it and see for yourself. All I can say is that lucid dreams are NOTHING compared to Out of Body Experiences.