When you first go to sleep you have a long prerem state, and a short rem state. When you sleep it goes in a cycle of prerem, then rem, then repeats over and over. The longer you have been asleep the short the prerem state is. The longer gap means its harder, because you need to stay lucid through the entire prerem state, which can be like an hour when you first go to sleep.
So most people who try to go into a dream while awake, sleep for 5 hours or so, wake up then go back to sleep and try it. Its possible to go from being perfectly awake straight into a dream, its called a WILD.
It also works well during naps. Naps are often a great time to try to go straight into a dream. Also if you nap often enough, its possible to shorten the prerem stage when you do later go to sleep.
I know there is a technique where some people stop sleeping at night all together. Instead of sleeping at night, take like 20 minute naps all throughout the day. And if you do this often enough, its actually possible to live off less sleep than normal, and you end up with highly lucid dreams. However that is a bit of an extreme option, and its not a thing people usually do.
As for finding stuff to do while lucid, I do have a suggestion for that. It sounds like your the type of person who spontaneously becomes lucid in dreams, likely because you are just naturally good at realizing its a dream. What you should do, is when you realize you are lucid, continue what you were doing in the dream, while trying not to consciousness. A lot of dreams have stories or stuff. So if you can't think of anything to do, let your unconscious mind do the work for you. Just go along with the dream, and I know it will throw all sort of crazy things at you.
Or try to astral project, and see the world. I personally think astral projection is just lucid dreaming, however when you actively try to astral project you will get interesting results. If you go into it trying to find real life places and people, your mind will try its best to create things like real life. Some times so accurately you might even question weather its really a dream, or if astral projection is real. Other times, you just get crazy results. Either way, you are sure to be entertained.
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