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I've read before, that you can 'trigger' a lucid dream by laying on your back with your arms on your sides, and not moving at all.
When you're normally trying to sleep, your brain apparently sends you a signal, telling you to move your limbs, by doing this, your brain checks if you're ready to sleep yet or not.
By not moving your limbs you're basically telling your brain you're ready to sleep. Supposedly, you will start dreaming at this point, even though you are still awake, causing lucid dreams.
I've tried it before, but I couldn't keep myself from moving ;x