A lucid dream is simply knowing that you are dreaming while dreaming.

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Lucid dreams occur during a normal night's sleep and are simply a standard dream with critical awareness added to the mix. In other words, you know that it's all a dream!

Dream control is a separate skill that is learnt AFTER you learn how to lucid dream. While most newbie lucid dreamers have some degree of dream control, complex dream control can take a long time to master. 

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