I have been in a semi-lucid state but for some reason couldn't go all the way.  From the little i have read they say it wasn't fully lucid.  Anyway, after falling asleep at some point i realize that i am asleep.  I can not control my body yet i feel myself laying down.  I try to move but i cant and i start to panic, i try franticly to cox myself limbs into movement but it never works.  Finally i wake up and am usually covered in sweat.  Hope you have a better time then i do :)