I've had several LD's where i' ve had sex. They are great but in all of them( about 4) I wake up upon climax so I quit having sex in LD's for me, it's not worth losing lucidity for this...
I can assure you that the pleassure is awesome and you don't have to worry about pregnant dc's or std's jajaja
It's very easy like Percylucid said, I just go around looking for a super hot model and whisper in her ear for sex, and it's like if i had suddenly awoken here inner beast (they get very sexual,playful, loving, etc) and we get it done in the nearest place.

Do you guys consider this cheating?
Because it's your body and you are allegedly having sex with a stranger...I just don't feel guilty though because it's all in my head.
and I also stopped this because i'm afraid that while having a sex ld I might let out any type of noise from my mouth and my parents will hear, lol