I've had countless lucid dreams throughout the years. Sometimes I even dreamed in episodes, I'd dream the next "episode" every next day until the story would be complete, all while knowing I was part of the story and could manipulate it. Have also had many lucid dreams involving flying, driving all sorts of vehicles like a pro (airplanes, helicopters, bikes, cars etc), doing all kinds of sports I actually sucked at (was only good at basketball) or generally creating worlds to my liking. I have to admit though, that probably 90% of the times I've had lucid dreams, I summon extremely hot porn girls and have perverted orgies for hours until I wake up exhausted from all the sex.

TL;DR When you manage to have a lucid dream, do some porn.