Lucid dreams are dreams in which you realize that you are dreaming. This is where you will be aware of your dream surroundings and can act out in them as you wish, without making yourself wake up. This is hard to do for most people, I've only done it a few times myself. Most of the time when I notice that I am dreaming, I wake up right away, or the awarness goes away and plays out on its own without me having any control. Hope this helped answer your question!