It takes about 6-7 minutes to do Hypnagogic Imagery Induced Lucid Dreams. Do this at night before you go to sleep, when you are at least a little bit drowsy. Lay down with your body facing straight and try to have everything symmetrical (left body parts in the exact opposite spot of your right body parts.) and have your palms facing down. This can be uncomfortable when you first do this, but this is a good thing. First focus on each limb one at a time, making them fall asleep. Start off with your left leg. Just focus on it (with your eyes closed) and you might get the urge to move, DO NOT MOVE. Do this for a minute, then do this with your right leg, then your left arm, then your right arm, then depending on how asleep you are, go to your head. Eventually it'll feel like you're just floating and you might feel like you're rotating. Next do your
This works when your body is relaxed enough to go into the hallucinatory-like transitional state, which is directly between being awake and sleeping (Hypnagogia), while you still maintaining enough focus to control the results.
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Many people relax much better when they just us imagery as opposed to focusing on the muscles.
For example, imagine yourself floating on a cloud. Start at the end of your toe and work your way up while imagining yourself slowly melting into it. Feel the soft, comfortable air holding your body.
Hypnagogic Imagery Induced Lucid Dreams is also a common method used to induce a state of hypnosis by letting the person slip into a quasi-conscious state.