in order to practise lucid dreams we can use Zen stone balancing as a metaphor.
One method of lucid dreaming is to find the balance of falling asleep and staying awake.
Just like balancing things out of stone what we do is we slowly fall into a state of sleep continuously pulling ourselves out of it. Falling into sleep but allowing a parachute to continuously pull us up so we don’t enter freefall.
Until we enter a trancelike state.
We can also allow ourself to continuously melt deeper with each our breath.
This state is achieved much easier when we are already rested and don’t require sleep. So that our body can more easily rest exactly on that threshold between awake and asleep.
One way of holding yourself there is to not get too comfortable. Sitting up in Zen, or laying down in savasana helps compared to snuggling up on our side.