I had a minor lucid dream last night. Basically, it involved tentacles, and the moment it went into my underwear I realized it was a dream. But I couldn't get the dream to do more, since I realized it and was about to wake up - but then I remembered from that wiki article someone here linked about "spinning/turning around" in dreams when you feel like you'll wake up. I did it, and I think it worked - I didn't wake up, kept dreaming, but forgot I was dreaming. It went back to boring normal dreams.