In all non-lucid dreams you recall, you had awareness during that dream.
In all lucid dreams you recall, you not only had awareness during that dream but the concept of dreaming came across your mind at some point during the dream which allowed you to have a working memory of what a dream is so you can identify it as such.
For example, in a non-lucid dream, you might become aware of a monster, become scared, and run away. In a lucid dream, you might become aware of a monster, remember monsters only exist in dreams and use that fact to conclude you must be dreaming.
So, awareness and working memory of dreams together is what makes a dream lucid.
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