I kept a dream journal for years and very rarely had lucid dreams. 6-8 times at most over 30 years. I definitely got better at remembering dreams -- it also helped if I could build a narrative that would keep the different segments tied together.
For some people it's more natural, with DILD (dream induced lucid dreams) but others need to practice the skill explicitly, such as with WILD (wake induced lucid dreams) methods.
satvikpendem|4 days ago