I have only briefly lucid dreamed. I remember one time I actually felt myself starting to dream, and I knew it was a dream, but I didn't have any control. eventually, I wanted it to stop, and said so many times, so my mind fooled me into thinking it had ened by having me dream about being in bed, even though the light was on and I turned over, but I hadn't turned over in real life and there was no ight turned on.
I remember I another time when I realised I was dreaming, and it became lucid for a moment - I went downstairs, sat down, and waited for the dream to end. I eventually lost control and forgot I was dreaming.
And another time when I realised it was a dream, I went out for a walk, encountered someone, then encoutnered them again in a different outfit, and I said "Well, it IS a dream after all." And another time I looked in the mirror and I looked different and thougt, "So this is what I look like right now in this dream, then."
I wish I could have more control, but just knowing it's a dream is enough for me.