I occasionally have lucid dreams, but usually with dreams that I have had before. I realize that I'm dreaming, and that I've had the same dream or a similar dream before. Usually, I tend to want to explore the dream further, or try to make the dream end differently. If things go wrong in the dream, I can consciously wake myself up. It's not something I try to do, but I find it useful because I make decisions and have access to reason while I am dreaming, and I also remember more of my dream with lucid dreams.