Do you basically want to slip into sleep sooner, with less lying around? Because technically in meditation you actually DO want to be aware of your body...
I suppose if you want to let go of physical sensation of your body, there are relaxation exercises that are good for that. I start from my toes and go through every section of my body, feeling the physical sensation there and then completely relaxing as many muscles as possible and moving on to the next section.
I suppose going directly into a lucid dream from waking would be a sort of meditation, yeah, because you do focus your awareness. Someone else might answer the question better than I can, but often with hard-to-describe experiences like meditation and dreaming, it's all in your head anyway--do what feels right, believe 100% it will work, but don't beat yourself up if it turns out not the way you expected, and keep on trying and believing.
I will let others weigh in.
(This thread would actually probably fit better in the other part of the forum for discussing entering lucids, no?)
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