Also, on a side-note (same person), there are 2 tough part to achieving a lucid dream. One is to be in a dream from the beginning. If you're having one of those "blank" dreams where you don't realize anything is happening at all like as if you don't exist, then it's near impossible to accomplish a lucid dream.
Second is to know how much "force" to put into thinking of what you want in a dream. If you REALLY concentrate on Horo suddenly appearing in front of you, you'll most likely wake up and curse yourself. It's like a "Will-ometer". Too little will power won't get you anything and too much will cause too much brain activity and wake you up. You have to find the spot in the middle, and that middle varies between people.
You have to be "there" and "not there" at the same time in your dream, like you realize you're not in control of yourself. The control isn't there, but your full conscience is. And the trick is to remember before you even do this: Do not over-think anything. Be relaxed and stay calm.