I've had several dreams that somewhat fit the description of a lucid dream....and one that certainly was!
To describe it as quickly as possible...
At one point in the dream, I was walking down a street in the middle of the night, when a "friend" (in quotes because, although I knew this person was a friend in the "Dream World", I've never ever seen this dude in the real world)pulled up and offered a ride.
We went someplace where other "Dream World" pals were having a party. In the midst of all the fun I realized I was dreaming....and decided to be a bit bold.
I stood up and made an announcement to the effect of "You know, everyone here is merely a figment of my imagination.....I am having a lucid dream, and when I wake up.....you're basically DEAD!!!"
They all smiled...and said "We Know!....It's YOUR party."
The fun continued for a bit...and the dream faded into the pre-dawn reality of our physical plane.
I sat up at the edge of the bed, and had the same kind of smile and laugh that I get when some secret of the universe is revealed to me during a trip.
I will never forget it!