Most of the times, you wake up once you realize you're dreaming, so I say staying asleep when you do is the hard part. This is what usually ruins lucid dreams for me. You can even feel "wakefulness" coming up and the dream starting to dissipate and I'm going "No! Nooo!" if it was a good dream. It's like the subconscious doesn't like it when you figure out it's all fake.

I've always been fascinated by lucid dreaming. My dreams are incredibly disjointed and they jump from one thing to the next . I've always wanted to learn how to control them so they can start making sense.