Did you ever have a lucid dream?

I had read an article in Omni magazine on it and different techniques for triggering/realizing that you were dreaming and becoming lucid. Then I started checking out books from the library on that and astral projection.
I practiced the exercises in my waking hours and got really good at achieving lucidity during my dreams.

A lot of it was having it in my mind while awake...testing whether I was actually was awake, and reminding myself that although I could "prove" that I was indeed awake at the moment, that tonight, when dreaming I would do some of the same "tests" and that when I saw the different results, to make myself aware that I was dreaming.

Sometimes just becoming lucid, makes you wake up which is sooo frustrating, but with practice, you get over that. The dreams were not 100% controllable as often times (I would almost always want to fly like superman)
but then Id float like an unpredictable helium balloon

More times than not though, things went more or less as planned and it was always exciting to have control of what I was doing and where I was doing in.

If you are interested in some of the techniques that help with this just let me know. They are not complicated, but they are very repetitive and it might take days, weeks, or never.